相关论文: MINS: Efficient and Robust Multisensor-aided Inert…
Although people spend most of their time indoors, outdoor tracking systems, such as the Global Positioning System (GPS), are predominantly used for location-based services. These systems are accurate outdoors, easy to use, and operate…
The essential of navigation, perception, and decision-making which are basic tasks for intelligent robots, is to estimate necessary system states. Among them, navigation is fundamental for other upper applications, providing precise…
Reliable vehicle navigation in urban environments remains a challenging problem due to frequent satellite signal blockages caused by tall buildings and complex infrastructure. While fusing inertial reading with satellite positioning in an…
This paper proposes a low-cost six Degree-of-Freedom (6-DOF) navigation system for small aerial robots based on the integration of Global Position System (GPS) receiver with sensors of inertional Microelectromechanical Systems (MEMS). In…
Correcting gradual position drift is a challenge in long-term subsea navigation. Though highly accurate, modern inertial navigation system (INS) estimates will drift over time due to the accumulated effects of sensor noise and biases, even…
We propose a multisensor fusion framework for onboard real-time navigation of a quadrotor in an indoor environment, by integrating sensor readings from an Inertial Measurement Unit (IMU), a camera-based object detection algorithm, and an…
We present a novel optimization-based Visual-Inertial SLAM system designed for multiple partially overlapped camera systems, named MAVIS. Our framework fully exploits the benefits of wide field-of-view from multi-camera systems, and the…
We introduce a novel framework of continuous-time ultra-wideband-inertial sensor fusion for online motion estimation. Quaternion-based cubic cumulative B-splines are exploited for parameterizing motion states continuously over time.…
We propose a cross attention transformer based method for multimodal sensor fusion to build a birds eye view of a vessels surroundings supporting safer autonomous marine navigation. The model deeply fuses multiview RGB and long wave…
The purpose of navigation is to determine the position, velocity, and orientation of manned and autonomous platforms, humans, and animals. Obtaining accurate navigation commonly requires fusion between several sensors, such as inertial…
This paper sets a new foundation for data-driven inertial navigation research, where the task is the estimation of positions and orientations of a moving subject from a sequence of IMU sensor measurements. More concretely, the paper…
The combination of data from multiple sensors, also known as sensor fusion or data fusion, is a key aspect in the design of autonomous robots. In particular, algorithms able to accommodate sensor fusion techniques enable increased accuracy,…
Localization and mapping with heterogeneous multi-sensor fusion have been prevalent in recent years. To adequately fuse multi-modal sensor measurements received at different time instants and different frequencies, we estimate the…
Achieving level-5 driving automation in autonomous vehicles necessitates a robust semantic visual perception system capable of parsing data from different sensors across diverse conditions. However, existing semantic perception datasets…
Accurate and reliable navigation is crucial for autonomous unmanned ground vehicle (UGV). However, current UGV datasets fall short in meeting the demands for advancing navigation and mapping techniques due to limitations in sensor…
We present a robust and precise localization system that achieves centimeter-level localization accuracy in disparate city scenes. Our system adaptively uses information from complementary sensors such as GNSS, LiDAR, and IMU to achieve…
Global Navigation Satellite Systems (GNSS) aided Inertial Navigation System (INS) is a fundamental approach for attaining continuously available absolute vehicle position and full state estimates at high bandwidth. For transportation…
Accurate and robust extrinsic calibration is necessary for deploying autonomous systems which need multiple sensors for perception. In this paper, we present a robust system for real-time extrinsic calibration of multiple lidars in vehicle…
In recent years, MEMS inertial sensors (3D accelerometers and 3D gyroscopes) have become widely available due to their small size and low cost. Inertial sensor measurements are obtained at high sampling rates and can be integrated to obtain…
Autonomous mobile robots are widely used for navigation, transportation, and inspection tasks indoors and outdoors. In practical situations of limited satellite signals or poor lighting conditions, navigation depends only on inertial…