相关论文: An Open-Source Gazebo Plugin for GNSS Multipath Si…

Cooperative vehicle platooning applications increasingly demand realistic simulation tools to ease their validation and to bridge the gap between development and real-world deployment. However, their complexity and cost often hinder its…

GNSS are indispensable for various applications, but they are vulnerable to spoofing attacks. The original receiver autonomous integrity monitoring (RAIM) was not designed for securing GNSS. In this context, RAIM was extended with wireless…

5G mmWave technology can turn multipath into a friend, as multipath components become highly resolvable in the time and angle domains. Multipath signals have not only been used in the literature to position the user equipment (UE) but also…

This paper presents a multi-sensor fusion strategy for a novel road-matching method designed to support real-time navigational features within advanced driving-assistance systems. Managing multihypotheses is a useful strategy for the…

Multipath is among the major sources of errors in precise positioning using GPS and continues to be extensively studied. Two Fast Fourier Transform (FFT)-based detectors are presented in this paper as GPS multipath detection techniques. The…

The recent adoption of the Robot Operating System (ROS) as a software standard in robotics has contributed to novel solutions for several problems on the area. One such problem is known as Simultaneous Localization and Mapping (SLAM) with…

Multi-object tracking (MOT) is among crucial applications in modern advanced driver assistance systems (ADAS) and autonomous driving (AD) systems. The global nearest neighbor (GNN) filter, as the earliest random vector-based Bayesian…

Detecting travel modes from global navigation satellite system (GNSS) trajectories is essential for understanding individual travel behavior and a prerequisite for achieving sustainable transport systems. While studies have acknowledged the…

Robust, high-precision global localization is fundamental to a wide range of outdoor robotics applications. Conventional fusion methods use low-accuracy pseudorange based GNSS measurements ($>>5m$ errors) and can only yield a coarse…

An extensive, precise and robust recognition and modeling of the environment is a key factor for next generations of Advanced Driver Assistance Systems and development of autonomous vehicles. In this paper, a real-time approach for the…

We present a multi-robot system for GPS-denied search and rescue under the forest canopy. Forests are particularly challenging environments for collaborative exploration and mapping, in large part due to the existence of severe perceptual…

This paper presents research findings on handling faulty measurements (i.e., outliers) of global navigation satellite systems (GNSS) for vehicle localization under adverse signal conditions in field applications, where raw GNSS data are…

Vehicular Networks are one of the enabling technologies for cooperative Intelligent Transportation Systems. For accurate and precise time synchronization in vehicular networks, Global Navigation Satellite System (GNSS) is getting increasing…

Aerial scans with unmanned aerial vehicles (UAVs) are becoming more widely adopted across industries, from smart farming to urban mapping. An application area that can leverage the strength of such systems is search and rescue (SAR)…

Novel view synthesis of urban scenes is essential for autonomous driving-related applications.Existing NeRF and 3DGS-based methods show promising results in achieving photorealistic renderings but require slow, per-scene optimization. We…

We present the first scene-update aerial path planning algorithm specifically designed for detecting and updating change areas in urban environments. While existing methods for large-scale 3D urban scene reconstruction focus on achieving…

The Global Navigation Satellite System (GNSS) provides critical positioning information globally, but its accuracy in dense urban environments is often compromised by multipath and non-line-of-sight errors. Road network data can be used to…

The use of GNSS in the railway sector has been postulated on the notion of a Virtual Balise (VB). The VB-based positioning system works by setting a VB point on the railway track and determining the passage of the VB point using the…

Today the global averaged civilian positioning accuracy is still at meter level for all existing Global Navigation Satellite Systems (GNSSs), and the civilian positioning performance is even worse in regions such as the Arctic region and…

In urban areas, signal reception conditions are often poor due to reflections from buildings, resulting in inaccurate global navigation satellite system (GNSS)-based positioning. Various 3D-mapping-aided (3DMA) GNSS techniques, including…