相关论文: STAR-loc: Dataset for STereo And Range-based local…
The high speed of cardiorespiratory motion introduces a unique challenge for cardiac stereotactic radio-ablation (STAR) treatments with the MR-linac. Such treatments require tracking myocardial landmarks with a maximum latency of 100 ms,…
Accurate pose estimation is fundamental for unmanned aerial vehicle (UAV) applications, where Visual-Inertial SLAM (VI-SLAM) provides a cost-effective solution for localization and mapping. However, existing VI-SLAM methods mainly rely on…
This paper introduces a large-scale multi-modal dataset captured in and around well-known landmarks in Oxford using a custom-built multi-sensor perception unit as well as a millimetre-accurate map from a Terrestrial LiDAR Scanner (TLS). The…
We present a distributed system for storage, processing, three-dimensional visualisation and basic analysis of data from Earth-observing satellites. The database and the server have been designed for high performance and scalability,…
A robust visual localization and mapping system is essential for warehouse robot navigation, as cameras offer a more cost-effective alternative to LiDAR sensors. However, existing forward-facing camera systems often encounter challenges in…
Astronaut photography, spanning six decades of human spaceflight, presents a unique Earth observations dataset with immense value for both scientific research and disaster response. Despite its significance, accurately localizing the…
Localization and tracking are two very active areas of research for robotics, automation, and the Internet-of-Things. Accurate tracking for a large number of devices usually requires deployment of substantial infrastructure (infrared…
In the era of mega-constellations, the need for accurate and publicly available information has become fundamental for satellite operators to guarantee the safety of spacecrafts and the Low Earth Orbit (LEO) space environment. This study…
We summarize some of the compelling new scientific opportunities for understanding stars and stellar systems that can be enabled by sub-milliarcsec (sub-mas) angular resolution, UV-Optical spectral imaging observations, which can reveal the…
A bidirectional Ultra-Wideband (UWB) localization scheme is one of the three widely adopted design integration processes commonly used in time-based UWB positioning systems. The key property of bidirectional UWB localization is its ability…
In view of increased interest in object-oriented systems for describing coordinate information, we present a description of the data model used by the Starlink AST library. AST provides a comprehensive range of facilities for attaching…
This paper presents a Visual Inertial Odometry Landmark-based Simultaneous Localisation and Mapping algorithm based on a distributed block coordinate nonlinear Moving Horizon Estimation scheme. The main advantage of the proposed method is…
Radio-based simultaneous localization and mapping (SLAM) has the potential to provide precise user equipment (UE) localization and environmental sensing capabilities by exploiting radio signals. Most existing approaches leverage…
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…
Localization can be achieved by different sensors and techniques such as a global positioning system (GPS), wifi, ultrasonic sensors, and cameras. In this paper, we focus on the laser-based localization method for unmanned aerial vehicle…
Place recognition is a core component of Simultaneous Localization and Mapping (SLAM) algorithms. Particularly in visual SLAM systems, previously-visited places are recognized by measuring the appearance similarity between images…
Unmanned aerial vehicles (UAVs) visual localization in planetary aims to estimate the absolute pose of the UAV in the world coordinate system through satellite maps and images captured by on-board cameras. However, since planetary scenes…
Accurate visual localization from aerial views is a fundamental problem with applications in mapping, large-area inspection, and search-and-rescue operations. In many scenarios, these systems require high-precision localization while…
Decentralized state estimation is one of the most fundamental components of autonomous aerial swarm systems in GPS-denied areas yet it still remains a highly challenging research topic. Omni-swarm, a decentralized omnidirectional…
Mega-constellations in Low Earth Orbit have the potential to revolutionise worldwide internet access. The concomitant potential of these mega-constellations to impact space sustainability, however, has prompted concern from space actors as…