相关论文: An Open-Source Gazebo Plugin for GNSS Multipath Si…
Global Navigation Satellite Systems (GNSS) are widely used to provide position, velocity, and timing (PVT) information for various applications, including transportation, location-based communication services, and intelligent agriculture.…
In urban environments, where line-of-sight signals from GNSS satellites are frequently blocked by high-rise objects, GNSS receivers are subject to large errors in measuring satellite ranges. Heuristic methods are commonly used to estimate…
Multiple mobile robots play a significant role in various spatially distributed tasks.In unfamiliar and non-repetitive scenarios, reconstructing the global map is time-inefficient and sometimes unrealistic. Hence, research has focused on…
3D Gaussian Splatting (3DGS) has become a popular solution in SLAM due to its high-fidelity and real-time novel view synthesis performance. However, some previous 3DGS SLAM methods employ a differentiable rendering pipeline for tracking,…
High-quality structured data with rich annotations are critical components in intelligent vehicle systems dealing with road scenes. However, data curation and annotation require intensive investments and yield low-diversity scenarios. The…
The paper discusses the increasing use of hybridized sensor information for GNSS-based localization and navigation, including the use of 3D map-aided GNSS positioning and terrestrial systems based on different geometric measurement…
The accelerating pace in the automation of agricultural tasks demands highly accurate and robust localization systems for field robots. Simultaneous Localization and Mapping (SLAM) methods inevitably accumulate drift on exploratory…
We propose GGS, a Generalizable Gaussian Splatting method for Autonomous Driving which can achieve realistic rendering under large viewpoint changes. Previous generalizable 3D gaussian splatting methods are limited to rendering novel views…
Many multi-sensor navigation systems urgently demand accurate positioning initialization from global navigation satellite systems (GNSSs) in challenging static scenarios. However, ground blockages against line-of-sight (LOS) signal…
At modern construction sites, utilizing GNSS (Global Navigation Satellite System) to measure the real-time location and orientation (i.e. pose) of construction machines and navigate them is very common. However, GNSS is not always…
Delivery robots aim to achieve high precision to facilitate complete autonomy. A precise three-dimensional point cloud map of sidewalk surroundings is required to estimate self-location. With or without the loop closing method, the…
The integration of Non-Terrestrial Networks (NTNs) into 6G networks is one of the most promising ways to achieve significant improvements in capacity, reliability, and global coverage. The design of NTN heavily relies on using channel…
Accurate trajectory prediction for buses is crucial in intelligent transportation systems, particularly within urban environments. In developing regions where access to multimodal data is limited, relying solely on onboard GPS data remains…
The rapid growth of 3D Gaussian Splatting (3DGS) has revolutionized neural rendering, enabling real-time production of high-quality renderings. However, the previous 3DGS-based methods have limitations in urban scenes due to reliance on…
Datasets are essential to train and evaluate computer vision models used for traffic analysis and to enhance road safety. Existing real datasets fit real-world scenarios, capturing authentic road object behaviors, however, they typically…
Immersive maps such as Google Street View and Bing Streetside provide true-to-life views with a massive collection of panoramas. However, these panoramas are only available at sparse intervals along the path they are taken, resulting in…
Environmental monitoring robots often need to estimate data fields (e.g., salinity, temperature, bathymetry) under tight resource constraints. Classical boustrophedon lawnmower surveys provide geometric coverage guarantees but can waste…
Modern robots must coexist with humans in dense urban environments. A key challenge is the ghost probe problem, where pedestrians or objects unexpectedly rush into traffic paths. This issue affects both autonomous vehicles and human…
Motivated by the goal of achieving long-term drift-free camera pose estimation in complex scenarios, we propose a global positioning framework fusing visual, inertial and Global Navigation Satellite System (GNSS) measurements in multiple…
Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Satellite System (GNSS) measurements, a first attempt of this…