相关论文: Uncertainty analysis for accurate ground truth tra…
A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…
Since many safety-critical systems, such as surgical robots and autonomous driving cars operate in unstable environments with sensor noise and incomplete data, it is desirable for object detectors to take the localization uncertainty into…
The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…
This paper proposes a novel positioning technique suitable for use in mobile robots in urban environments in which large global navigation satellite system (GNSS) positioning errors occur because of multipath signals. During GNSS…
This technical report provides the description and the derivation of a novel nonlinear unknown input and state estimation algorithm (NUISE) for mobile robots. The algorithm is designed for real-world robots with nonlinear dynamic models and…
We propose a novel angular velocity estimation method to increase the robustness of Simultaneous Localization And Mapping (SLAM) algorithms against gyroscope saturations induced by aggressive motions. Field robotics expose robots to various…
Range-only (RO) localization involves determining the position of a mobile robot by measuring the distance to specific anchors. RO localization is challenging since the measurements are low-dimensional and a single range sensor does not…
This short paper presents research findings on two learning-based methods for quantifying measurement uncertainties in global navigation satellite systems (GNSS). We investigate two learning strategies: offline learning for outlier…
Augmented reality assembly guidance is essential for intelligent manufacturing and medical applications, requiring continuous measurement of the 6DoF poses of manipulated objects. Although current tracking methods have made significant…
UE localization has proven its implications on multitude of use cases ranging from emergency call localization to new and emerging use cases in industrial IoT. To support plethora of use cases Radio Access Technology (RAT)-based positioning…
State-of-the-art lidar place recognition models exhibit unreliable performance when tested on environments different from their training dataset, which limits their use in complex and evolving environments. To address this issue, we…
We describe a Deep-Geometric Localizer that is able to estimate the full 6 Degree of Freedom (DoF) global pose of the camera from a single image in a previously mapped environment. Our map is a topo-metric one, with discrete topological…
Navigation solutions suitable for cases when both autonomous robot's pose (\textit{i.e}., attitude and position) and its environment are unknown are in great demand. Simultaneous Localization and Mapping (SLAM) fulfills this need by…
In urban environments, global navigation satellite system (GNSS) positioning is often compromised by signal blockages and multipath effects caused by buildings, leading to significant positioning errors. To address this issue, this study…
Deep neural networks achieve high prediction accuracy when the train and test distributions coincide. In practice though, various types of corruptions occur which deviate from this setup and cause severe performance degradations. Few…
Realizing relative localization by leveraging inter-robot local measurements is a challenging problem, especially in the presence of measurement noise. Motivated by this challenge, in this paper we propose a novel and systematic 3-D…
Accurate perception, state estimation and mapping are essential for safe robotic navigation as planners and controllers rely on these components for safety-critical decisions. However, existing mapping approaches often assume perfect pose…
Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…
When nodes in a mobile network use relative noisy measurements with respect to their neighbors to estimate their positions, the overall connectivity and geometry of the measurement network has a critical influence on the achievable…
Position sensitive detectors (PSDs) offer possibility to track single active marker's two (or three) degrees of freedom (DoF) position with a high accuracy, while having a fast response time with high update frequency and low latency, all…