相关论文: Magnetic Sensor Compensation Utilizing Factor Grap…
With the rapid development of autonomous driving and SLAM technology, the performance of autonomous systems using multimodal sensors highly relies on accurate extrinsic calibration. Addressing the need for a convenient, maintenance-friendly…
Inertial-based navigation refers to the navigation methods or systems that have inertial information or sensors as the core part and integrate a spectrum of other kinds of sensors for enhanced performance. Through a series of papers, the…
Most sensor calibrations rely on the linearity and steadiness of their response characteristics, but practical sensors are nonlinear, and their response drifts with time, restricting their choices for adoption. To broaden the realm of…
During the last decade, the FORS1 instrument of the ESO VLT has been extensively used to study stellar magnetism. A number of interesting discoveries of magnetic fields in several classes of stars have been announced, many of which obtained…
This paper presents a neural-enhanced probabilistic model and corresponding factor graph-based sum-product algorithm for robust localization and tracking in multipath-prone environments. The introduced hybrid probabilistic model consists of…
Wireless localization of permanent magnets enables occlusion-free guidance for medical interventions, yet its practical accuracy is fundamentally limited by two coupled challenges: the poor observability of conventional planar sensor arrays…
This paper develops an underwater navigation solution that utilizes a strapdown inertial navigation system (SINS) and fuses a set of auxiliary sensors such as an acoustic positioning system, Doppler velocity log, depth meter, attitude…
In this paper, we introduce dynamics factor graphs as a graphical framework to solve dynamics problems and kinodynamic motion planning problems with full consideration of whole-body dynamics and contacts. A factor graph representation of…
Linear Hall sensors are a cost-effective alternative to optical encoders for measuring the rotor positions of actuators, with the main challenge being that they exhibit position-dependent inaccuracies resulting from manufacturing…
In spite of all the attempts conducted to improve the accuracy of the gravity wave detectors in recent years, no method has been successful to measure these waves up to now. Most of these detectors and laser interferometers work based on…
Accurate state estimation is a fundamental module for various intelligent applications, such as robot navigation, autonomous driving, virtual and augmented reality. Visual and inertial fusion is a popular technology for 6-DOF state…
A yoke-based permanent magnet, which has been employed in many watt balances at national metrology institutes, is supposed to generate strong and uniform magnetic field in an air gap in the radial direction. However, in reality the fringe…
Astronomic line mapping with single-pixel instruments is usually performed in an on-the-fly (OTF) or a raster-mapping mode depending on the capabilities of the telescope and the instrument. The observing efficiency can be increased by…
Metacalibration is a recently introduced method to accurately measure weak gravitational lensing shear using only the available imaging data, without need for prior information about galaxy properties or calibration from simulations. The…
Most existing motion planning algorithms assume that a map (of some quality) is fully determined prior to generating a motion plan. In many emerging applications of robotics, e.g., fast-moving agile aerial robots with constrained embedded…
Reliable operation in inclement weather is essential to the deployment of safe autonomous vehicles (AVs). Robustness and reliability can be achieved by fusing data from the standard AV sensor suite (i.e., lidars, cameras) with weather…
Conventional autonomous Unmanned Air Vehicle (abbr. UAV) autopilot systems use Global Navigation Satellite System (abbr. GNSS) signal for navigation. However, autopilot systems fail to navigate due to lost or jammed GNSS signal. To solve…
Aerial manipulation requires force-aware capabilities to enable safe and effective grasping and physical interaction. Previous works often rely on heavy, expensive force sensors unsuitable for typical quadrotor platforms, or perform…
This study proposes an airborne multisensor management algorithm for target tracking, taking each of multiple unmanned aircraft as a sensor. The purpose of the algorithm is to determine the configuration of the sensor deployment and to…
Multiple rotation averaging plays a crucial role in computer vision and robotics domains. The conventional optimization-based methods optimize a nonlinear cost function based on certain noise assumptions, while most previous learning-based…