相关论文: STAR-loc: Dataset for STereo And Range-based local…

Ultra-wideband (UWB) based positioning with fewer anchors has attracted significant research interest in recent years, especially under energy-constrained conditions. However, most existing methods rely on discrete-time representations and…

Reliable localization is critical for robot navigation, yet most existing systems implicitly assume that all viewing directions at a location are equally informative. In practice, localization becomes unreliable when the robot observes…

Ultra-wideband (UWB) devices are widely used in indoor localization scenarios. Single-anchor UWB localization shows advantages because of its simple system setup compared to conventional two-way ranging (TWR) and trilateration localization…

Ultra-wideband (UWB) time-difference-of-arrival (TDOA)-based localization has emerged as a promising, low-cost, and scalable indoor localization solution, which is especially suited for multi-robot applications. However, there is a lack of…

Inter-agent relative localization is critical for any multi-robot system operating in the absence of external positioning infrastructure or prior environmental knowledge. We propose a novel inter-agent relative 2D pose estimation system…

This paper investigates an infra-structure free global localization of a group of communicating mobile agents (e.g., first responders or exploring robots) via an ultra-wideband (UWB) inter-agent ranging aided dead-reckoning. We propose a…

Ultra-wideband (UWB) wireless technology has seen an increased penetration in the robotics field as a robust localization method in recent years. UWB enables high accuracy distance estimation from time-of-flight measurements of wireless…

We present DynamicSLAM: an indoor localization technique that eliminates the need for the daunting calibration step. DynamicSLAM is a novel Simultaneous Localization And Mapping (SLAM) framework that iteratively acquires the feature map of…

Millimeter-accuracy Ultra-Wideband (UWB) positioning systems using the Time Difference Of Arrival (TDOA) algorithm are able to be utilized in military and many other important applications. Previous research on UWB positioning system has…

We present SONYC-UST-V2, a dataset for urban sound tagging with spatiotemporal information. This dataset is aimed for the development and evaluation of machine listening systems for real-world urban noise monitoring. While datasets of urban…

This paper presents a Light Detection and Ranging (LiDAR) data set that targets complex urban environments. Urban environments with high-rise buildings and congested traffic pose a significant challenge for many robotics applications. The…

For future large scale robotic moon missions, the availability of infrastructure-less, cheap and low power real-time locating systems (RTLSs) is critical. Traditional RTLS face significant trade-offs between power consumption and…

USNO-B is an all-sky catalog that presents positions, proper motions, magnitudes in various optical passbands, and star/galaxy estimators for 1,042,618,261 objects derived from 3,643,201,733 separate observations. The data were obtained…

Visual Simultaneous Localization and Mapping (SLAM) plays a vital role in real-time localization for autonomous systems. However, traditional SLAM methods, which assume a static environment, often suffer from significant localization drift…

Various autonomous applications rely on recognizing specific known landmarks in their environment. For example, Simultaneous Localization And Mapping (SLAM) is an important technique that lays the foundation for many common tasks, such as…

Bitemporal supervised learning paradigm always dominates remote sensing change detection using numerous labeled bitemporal image pairs, especially for high spatial resolution (HSR) remote sensing imagery. However, it is very expensive and…

Accurate indoor localization is a crucial enabling technology for many robotics applications, from warehouse management to monitoring tasks. Ultra-wideband (UWB) ranging is a promising solution which is low-cost, lightweight, and…

We present a visual localization system that learns to estimate camera poses in the real world with the help of synthetic data. Despite significant progress in recent years, most learning-based approaches to visual localization target at a…

Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…

We introduce a novel technique and an associated high resolution dataset that aims to precisely evaluate wireless signal based indoor positioning algorithms. The technique implements an augmented reality (AR) based positioning system that…