相关论文: A sensor fusion approach for improving implementat…

An ideal fusion method preserves the Spectral information in fused image and adds spatial information to it with no spectral distortion. Recently wavelet kalman filter method is proposed which uses ARSIS concept to fuses MS and PAN images.…

The rapid growth of unmanned aerial vehicles (UAVs) in civilian and critical-infrastructure airspace has created a need for reliable detection and tracking systems that operate under diverse environmental and sensing conditions. This paper…

Multisensor fusion of air pollutant data in smart buildings remains an important input to address the well-being and comfort perceived by their inhabitants. An integrated sensing system is part of a smart building where real-time indoor air…

We present ConFusion, an open-source package for online sensor fusion for robotic applications. ConFusion is a modular framework for fusing measurements from many heterogeneous sensors within a moving horizon estimator. ConFusion offers…

In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…

Outdoor maps and navigation information delivered by modern services and technologies like Google Maps and Garmin navigators have revolutionized the lifestyle of many people. Motivated by the desire for similar navigation systems for indoor…

This paper presents a pioneering solution to the task of integrating mobile 3D LiDAR and inertial measurement unit (IMU) data with existing building information models or point clouds, which is crucial for achieving precise long-term…

Visual-inertial sensors have a wide range of applications in robotics. However, good performance often requires different sophisticated motion routines to accurately calibrate camera intrinsics and inter-sensor extrinsics. This work…

Fusing 3D LiDAR features with 2D camera features is a promising technique for enhancing the accuracy of 3D detection, thanks to their complementary physical properties. While most of the existing methods focus on directly fusing camera…

Deep learning-based image fusion approaches have obtained wide attention in recent years, achieving promising performance in terms of visual perception. However, the fusion module in the current deep learning-based methods suffers from two…

In this paper, we study state estimation of multi-visual-inertial systems (MVIS) and develop sensor fusion algorithms to optimally fuse an arbitrary number of asynchronous inertial measurement units (IMUs) or gyroscopes and global and(or)…

In remote sensing, each sensor can provide complementary or reinforcing information. It is valuable to fuse outputs from multiple sensors to boost overall performance. Previous supervised fusion methods often require accurate labels for…

We present a new technique that achieves a significant reduction in the quantity of measurements required for a fusion based dense 3D mapping system to converge to an accurate, de-noised surface reconstruction. This is achieved through the…

In Robotics, especially in this era of autonomous driving, mapping is one key ability of a robot to be able to navigate through an environment, localize on it and analyze its traversability. To allow for real-time execution on constrained…

Robust and fine localization algorithms are crucial for autonomous driving. For the production of such vehicles as a commodity, affordable sensing solutions and reliable localization algorithms must be designed. This work considers…

This paper addresses the challenge of estimating the orientation, position, and velocity of a vehicle operating in three-dimensional (3D) space with six degrees of freedom (6-DoF). A Deep Learning-based Adaptation Mechanism (DLAM) is…

In the realm of robotics, achieving simultaneous localization and mapping (SLAM) is paramount for autonomous navigation, especially in challenging environments like texture-less structures. This paper proposed a factor-graph-based model…

Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…

Environment mapping is an important computing task for a wide range of smart city applications, including autonomous navigation, wireless network operations and extended reality environments. Conventional smart city mapping techniques, such…

3D multi-object tracking (MOT) is essential for an autonomous mobile agent to safely navigate a scene. In order to maximize the perception capabilities of the autonomous agent, we aim to develop a 3D MOT framework that fuses camera and…