相关论文: Range-Only Bearing Estimator for Localization and …

Autonomous shipping has recently gained much interest in the research community. However, little research focuses on inland - and port navigation, even though this is identified by countries such as Belgium and the Netherlands as an…

Visual SLAM (Simultaneous Localization and Mapping) based on planar features has found widespread applications in fields such as environmental structure perception and augmented reality. However, current research faces challenges in…

Monocular simultaneous localization and mapping (SLAM) algorithms estimate drone poses and build a 3D map using a single camera. Current algorithms include sparse methods that lack detailed geometry, while learning-driven approaches produce…

The problem of distributed control and estimation for multi-agent systems with limited sensing capabilities is a practical challenge motivated by incomplete and imperfect sensing. This article addresses an important case where each agent in…

We investigate a scenario where a chaser spacecraft or satellite equipped with a monocular camera navigates in close proximity to a target spacecraft. The satellite's primary objective is to construct a representation of the operational…

Simultaneous localization and mapping (SLAM) is used to predict the dynamic motion path of a moving platform based on the location coordinates and the precise mapping of the physical environment. SLAM has great potential in augmented…

This paper proposes a novel approach for Simultaneous Localization and Mapping by fusing natural and artificial landmarks. Most of the SLAM approaches use natural landmarks (such as keypoints). However, they are unstable over time,…

We equip an ultra-wideband (UWB) node and a 2D LiDAR sensor a.k.a. 2D laser rangefinder on a mobile robot, and place UWB beacon nodes at unknown locations in an unknown environment. All UWB nodes can do ranging with each other thus forming…

The capability of multi-robot SLAM approaches to merge localization history and maps from different observers is often challenged by the difficulty in establishing data association. Loop closure detection between perceptual inputs of…

This paper proposes a 3D LiDAR SLAM algorithm named Ground-SLAM, which exploits grounds in structured multi-floor environments to compress the pose drift mainly caused by LiDAR measurement bias. Ground-SLAM is developed based on the…

Accurate estimation of the position of network nodes is essential, e.g., in localization, geographic routing, and vehicular networks. Unfortunately, typical positioning techniques based on ranging or on velocity and angular measurements are…

We consider the problem of bearing-based visual homing: Given a mobile robot which can measure bearing directions with respect to known landmarks, the goal is to guide the robot toward a desired "home" location. We propose a control law…

Simultaneous localization and mapping (SLAM) is a crucial functionality for exploration robots and virtual/augmented reality (VR/AR) devices. However, some of such devices with limited resources cannot afford the computational or memory…

LiDAR SLAM has become one of the major localization systems for ground vehicles since LiDAR Odometry And Mapping (LOAM). Many extension works on LOAM mainly leverage one specific constraint to improve the performance, e.g., information from…

A swarm of robots has advantages over a single robot, since it can explore larger areas much faster and is more robust to single-point failures. Accurate relative positioning is necessary to successfully carry out a collaborative mission…

When adapting Simultaneous Mapping and Localization (SLAM) to real-world applications, such as autonomous vehicles, drones, and augmented reality devices, its memory footprint and computing cost are the two main factors limiting the…

Simultaneous localization and mapping (SLAM) has been richly researched in past years particularly with regard to range-based or visual-based sensors. Instead of deploying dedicated devices that use visual features, it is more pragmatic to…

Accurate and robust object state estimation enables successful object manipulation. Visual sensing is widely used to estimate object poses. However, in a cluttered scene or in a tight workspace, the robot's end-effector often occludes the…

The ability to accurately estimate the position of robotic agents relative to one another, in possibly GPS-denied environments, is crucial to execute collaborative tasks. Inter-agent range measurements are available at a low cost, due to…

With the deepening of research on the SLAM system, the possibility of cooperative SLAM with multi-robots has been proposed. This paper presents a map matching and localization approach considering the cooperative SLAM of an aerial-ground…