相关论文: An Open-Source Gazebo Plugin for GNSS Multipath Si…
Vehicle trajectories are a promising GNSS (Global Navigation Satellite System) data source to compute multi-scale traffic flow maps ranging from the city/regional level to the road level. The main obstacle is that trajectory data are prone…
Achieving real-time Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian splatting (3DGS) in large-scale real-world environments remains challenging, as existing methods still struggle to jointly achieve low-latency pose…
This paper considers the attitude determination problem based on the global navigation satellite system (GNSS) and fifth-generation (5G) measurement fusion to address the shortcomings of standalone GNSS and 5G techniques in deep urban…
Accurate smartphone-based outdoor localization system in deep urban canyons are increasingly needed for various IoT applications such as augmented reality, intelligent transportation, etc. The recently developed feature-based visual…
Global navigation satellite systems (GNSSs) are essential in providing localization and navigation services to most of the world due to their superior coverage. However, due to high pathloss and inevitable atmospheric effect, the…
Global Positioning System (GPS) spoofing involves transmitting fake signals that mimic those from GPS satellites, causing the GPS receivers to calculate incorrect Positioning, Navigation, and Timing (PNT) information. Recently, there has…
In urban areas, global navigation satellite system (GNSS) signals are often reflected or blocked by buildings, thus resulting in large positioning errors. In this study, we proposed a machine learning approach for global positioning system…
Acquiring, processing, and visualizing geospatial data requires significant computing resources, especially for large spatio-temporal domains. This challenge hinders the rapid discovery of predictive features, which is essential for…
Online dense mapping of urban scenes forms a fundamental cornerstone for scene understanding and navigation of autonomous vehicles. Recent advancements in mapping methods are mainly based on NeRF, whose rendering speed is too slow to meet…
Global Navigation Satellite Systems (GNSS) provide precise location, while Real Time Kinematics (RTK) allow mobile receivers (termed rovers), leveraging fixed stations, to correct errors in their Position Navigation and Timing (PNT)…
The increasing reliance on Global Navigation Satellite Systems (GNSS), particularly the Global Positioning System (GPS), underscores the urgent need to safeguard these technologies against malicious threats such as spoofing and jamming. As…
Simultaneous localization and mapping (SLAM) systems with novel view synthesis capabilities are widely used in computer vision, with applications in augmented reality, robotics, and autonomous driving. However, existing approaches are…
Reliable vehicle navigation in urban environments remains a challenging problem due to frequent satellite signal blockages caused by tall buildings and complex infrastructure. While fusing inertial reading with satellite positioning in an…
Urban navigation using GPS and fish-eye camera suffers from multipath effects in GPS measurements and data association errors in pixel intensities across image frames. We propose a Simultaneous Localization and Mapping (SLAM)-based…
Infrastructure-based sensing and real-time trajectory generation show promise for improving safety in high-risk roadway segments such as work zones, yet practical deployments are hindered by perspective distortion, complex geometry,…
Climate adaptation is vital for the sustainability and sometimes the mere survival of our urban areas. However, small cities often struggle with limited personnel resources and integrating vast amounts of data from multiple sources for a…
Physics simulation is paramount for modeling and utilizing 3D scenes in various real-world applications. However, integrating with state-of-the-art 3D scene rendering techniques such as Gaussian Splatting (GS) remains challenging. Existing…
Automatic underground parking has attracted considerable attention as the scope of autonomous driving expands. The auto-vehicle is supposed to obtain the environmental information, track its location, and build a reliable map of the…
Autonomous vehicles hold great promise in improving the future of transportation. The driving models used in these vehicles are based on neural networks, which can be difficult to validate. However, ensuring the safety of these models is…
Visual-Inertial odometry (VIO) is known to suffer from drifting especially over long-term runs. In this paper, we present GVINS, a non-linear optimization based system that tightly fuses GNSS raw measurements with visual and inertial…