相关论文: An Open-Source Gazebo Plugin for GNSS Multipath Si…
Geospatial technologies are becoming increasingly essential in our world for a wide range of applications, including agriculture, urban planning, and disaster response. To help improve the applicability and performance of deep learning…
Autonomous off-road navigation is required for applications in agriculture, construction, search and rescue and defence. Traditional on-road autonomous methods struggle with dynamic terrains, leading to poor vehicle control in off-road…
Global navigation satellite systems (GNSS) face significant challenges in urban and sub-urban areas due to non-line-of-sight (NLOS) propagation, multipath effects, and low received power levels, resulting in highly non-linear and…
In indoor environments, multi-robot visual (RGB-D) mapping and exploration hold immense potential for application in domains such as domestic service and logistics, where deploying multiple robots in the same environment can significantly…
Accurate and efficient modeling of large-scale urban scenes is critical for applications such as AR navigation, UAV based inspection, and smart city digital twins. While aerial imagery offers broad coverage and complements limitations of…
5G-based mmWave wireless positioning has emerged as a promising solution for autonomous vehicle (AV) positioning in recent years. Previous studies have highlighted the benefits of fusing a line-of-sight (LoS) 5G positioning solution with an…
This paper considers the localization problem in a 5G-aided global navigation satellite system (GNSS) based on real-time kinematic (RTK) technique. Specifically, the user's position is estimated based on the hybrid measurements, including…
Adverse climate conditions pose significant challenges for autonomous systems, demanding reliable perception and decision-making across diverse environments. To better simulate these conditions, physically-based NeRF rendering methods have…
Accurate control of a humanoid robot's global position (i.e., its three-dimensional position in the world) is critical to the reliable execution of high-risk tasks such as avoiding collision with pedestrians in a crowded environment. This…
Navigation and localization of UAVs present a challenge when global navigation satellite systems (GNSS) are disrupted and unreliable. Traditional techniques, such as simultaneous localization and mapping (SLAM) and visual odometry (VO),…
Purpose: This paper presents a new dataset of Aerial Imagery from Robotics simulator (abbr. AIR). AIR dataset aims to provide a starting point for localization system development and to become a typical benchmark for accuracy comparison of…
Accurate localization and perception are pivotal for enhancing the safety and reliability of vehicles. However, current localization methods suffer from reduced accuracy when the line-of-sight (LOS) path is obstructed, or a combination of…
Vision-based localization for autonomous driving has been of great interest among researchers. When a pre-built 3D map is not available, the techniques of visual simultaneous localization and mapping (SLAM) are typically adopted. Due to…
Accurate and safety-conscious trajectory prediction is a key technology for intelligent transportation systems, especially in V2X-enabled urban environments with complex multi-agent interactions. In this paper, we created a digital…
This article presents UrbanTwin datasets, high-fidelity, realistic replicas of three public roadside lidar datasets: LUMPI, V2X-Real-IC, and TUMTraf-I. Each UrbanTwin dataset contains 10K annotated frames corresponding to one of the public…
Multi-person pose estimation in the wild is challenging. Although state-of-the-art human detectors have demonstrated good performance, small errors in localization and recognition are inevitable. These errors can cause failures for a…
Stable and accurate tracking is essential for marine robotics, yet Global Navigation Satellite System (GNSS) signals vanish immediately below the sea surface. Traditional alternatives suffer from error accumulation, high computational…
Robot path planning model based on RNN and visual quality evaluation in the context of crowds is analyzed in this paper. Mobile robot path planning is the key to robot navigation and an important field in robot research. Let the motion…
3D Gaussian splatting (3DGS) and its subsequent variants have led to remarkable progress in simultaneous localization and mapping (SLAM). While most recent 3DGS-based SLAM works focus on small-scale indoor scenes, developing 3DGS-based SLAM…
This paper presents a novel multimodal perception system for a real open environment. The proposed system includes an embedded computation platform, cameras, ultrasonic sensors, GPS, and IMU devices. Unlike the traditional frameworks, our…