相关论文: Magnetic Navigation using Attitude-Invariant Magne…
Place recognition is a critical component in robot navigation that enables it to re-establish previously visited locations, and simultaneously use this information to correct the drift incurred in its dead-reckoned estimate. In this work,…
We propose a framework that allows a mobile robot to build a map of an indoor scenario, identifying and highlighting objects that may be considered a hindrance to people with limited mobility. The map is built by combining recent…
Global positioning systems can provide sufficient positioning accuracy for large scale robotic tasks in open environments. However, in underwater environments, these systems cannot be directly used, and measuring the position of underwater…
Traditional indoor robot navigation methods provide a reliable solution when adapted to constrained scenarios, but lack flexibility or require manual re-tuning when deployed in more complex settings. In contrast, learning-based approaches…
Patterns of human motion in outdoor and indoor environments are substantially different due to the scope of the environment and the typical intentions of people therein. While outdoor trajectory forecasting has received significant…
We propose and investigate the inverse problem of identifying magnetized anomalies beneath the Earth using the geomagnetic monitoring. Suppose a collection of magnetized anomalies presented in the shell of the Earth. The presence of the…
Contrasting to advances in street/outdoor navigation, wall mounted maps and signs continue to be the primary reference indoor navigation in hospitals, malls, museums, etc. The proliferation of mobile devices and the growing demand for…
In GNSS-denied environments, aiding a vehicle's inertial navigation system (INS) is crucial to reducing the accumulated navigation drift caused by sensor errors (e.g. bias and noise). One potential solution is to use measurements of gravity…
In a typical path planning pipeline for a ground robot, we build a map (e.g., an occupancy grid) of the environment as the robot moves around. While navigating indoors, a ground robot's knowledge about the environment may be limited due to…
Door-status detection, namely recognizing the presence of a door and its status (open or closed), can induce a remarkable impact on a mobile robot's navigation performance, especially for dynamic settings where doors can enable or disable…
This paper proposes a position fixing method for autonomous navigation using partial gravity gradient solutions from cold atom interferometers. Cold atom quantum sensors can provide ultra-precise measurements of inertial quantities, such as…
Local or reactive navigation is essential for autonomous mobile robots which operate in an indoor environment. Techniques such as SLAM, computer vision require significant computational power which increases cost. Similarly, using…
In this paper, a probabilistic method for map matching localisation based on magnetometery measurement and total magnetic intensity maps is described. We show that the method is able to effectively address the challenge issues associated…
In-operando techniques enable real-time measurement of intricate physical properties at the micro- and nano-scale under external stimuli, allowing the study of a wide range of materials and functionalities. In nanomagnetism, in-operando…
Time-based indoor positioning techniques rely on multiple access points (APs) and measurements between the user equipment (UE) and the APs. In dense indoor environments, occlusion-induced non-line-of-sight (NLoS) propagation introduces…
Visual obstacle discovery is a key step towards autonomous navigation of indoor mobile robots. Successful solutions have many applications in multiple scenes. One of the exceptions is the reflective ground. In this case, the reflections on…
Localization of autonomous mobile robots (AMRs) in enclosed or semi-enclosed environments such as offices, hotels, hospitals, indoor parking facilities, and underground spaces where GPS signals are weak or unavailable remains a major…
Tuning parameters is crucial for the performance of localization and mapping algorithms. In general, the tuning of the parameters requires expert knowledge and is sensitive to information about the structure of the environment. In order to…
Harnessing the magnetic field of the Earth for navigation has shown promise as a viable alternative to other navigation systems. A magnetic navigation system collects its own magnetic field data using a magnetometer and uses magnetic…
In this paper, we develop an embodied AI system for human-in-the-loop navigation with a wheeled mobile robot. We propose a direct yet effective method of monitoring the robot's current plan to detect changes in the environment that impact…