相关论文: Magnetic Navigation using Attitude-Invariant Magne…
Magnetic-anomaly navigation, leveraging small-scale variations in the Earth's magnetic field, is a promising alternative when GPS is unavailable or compromised. Airborne systems face a key challenge in extracting geomagnetic field data: the…
Robust localization in a given map is a crucial component of most autonomous robots. In this paper, we address the problem of localizing in an indoor environment that changes and where prominent structures have no correspondence in the map…
External localization is an essential part for the indoor operation of small or cost-efficient robots, as they are used, for example, in swarm robotics. We introduce a two-stage localization and instance identification framework for…
Most of the existing mobile robot localization solutions are either heavily dependent on pre-installed infrastructures or having difficulty working in highly repetitive environments which do not have sufficient unique features. To address…
This paper describes a novel method for the estimation of the trajectory curve and orientation of a rigid body moving along a railway track. Compared to other recent developments in the literature, the presented approach has the significant…
Optical camera communication (OCC) exhibits considerable importance nowadays in various indoor camera based services such as smart home and robot-based automation. An android smart phone camera that is mounted on a mobile robot (MR) offers…
The presence of magnetic fields in the intracluster medium in clusters of galaxies has been revealed through several different observational techniques. These fields may be dynamically important in clusters as they will provide additional…
We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions…
Object-relative mobile robot navigation is essential for a variety of tasks, e.g. autonomous critical infrastructure inspection, but requires the capability to extract semantic information about the objects of interest from raw sensory…
Recently, the navigation of mobile robots in unknown environments has become a particularly significant research topic. Previous studies have primarily employed real-time environmental mapping using cameras and LiDAR, along with…
This work presents a number of techniques to improve the ability to create magnetic field maps on a UAV which can be used to quickly and reliably gather magnetic field observations at multiple altitudes in a workspace. Unfortunately, the…
We present a novel algorithm for online, real-time orientation estimation. Our algorithm integrates gyroscope data and corrects the resulting orientation estimate for integration drift using accelerometer and magnetometer data. This…
We propose a novel external indoor positioning system that computes the position and orientation of multiple model-scale vehicles. For this purpose, we use a camera mounted at a height of 3.3m and LEDs attached to each vehicle. We reach an…
Inertial navigation computation is to acquire the attitude, velocity and position information of a moving body by integrating inertial measurements from gyroscopes and accelerometers. Over half a century has witnessed great efforts in…
Motion planning is a crucial aspect of robot autonomy as it involves identifying a feasible motion path to a destination while taking into consideration various constraints, such as input, safety, and performance constraints, without…
One essential step to realize modern driver assistance technology is the accurate knowledge about the location of static objects in the environment. In this work, we use artificial neural networks to predict the occupation state of a whole…
Accurate alignment of a fixed mobile device equipped with inertial sensors inside a moving vehicle is important for navigation, activity recognition, and other applications. Accurate estimation of the device mounting angle is required to…
We propose Audio Noise Awareness using Visuals of Indoors for NAVIgation for quieter robot path planning. While humans are naturally aware of the noise they make and its impact on those around them, robots currently lack this awareness. A…
Simultaneous localization and mapping (SLAM) algorithms are essential for the autonomous navigation of mobile robots. With the increasing demand for autonomous systems, it is crucial to evaluate and compare the performance of these…
Path planning algorithms for unmanned aerial or ground vehicles, in many surveillance applications, rely on Global Positioning System (GPS) information for localization. However, disruption of GPS signals, by intention or otherwise, can…