相关论文: Outlier Accommodation for GNSS Precise Point Posit…

Small-sized unmanned aerial vehicles (UAVs) have been widely investigated for use in a variety of applications such as remote sensing and aerial surveying. Direct three-dimensional (3D) mapping using a small-sized UAV equipped with a laser…

Navigation of UAVs in unknown environments with obstacles is essential for applications in disaster response and infrastructure monitoring. However, existing obstacle avoidance algorithms, such as Artificial Potential Field (APF) are unable…

Global Navigation Satellite Systems (GNSS) are integrated into many devices. However, civilian GNSS signals are usually not cryptographically protected. This makes attacks that forge signals relatively easy. Considering modern devices often…

The increasing reliance on Global Navigation Satellite Systems (GNSS), particularly the Global Positioning System (GPS), underscores the urgent need to safeguard these technologies against malicious threats such as spoofing and jamming. As…

Accuracy and Availability computations for a GNSS System - or combination of Systems - through Service Volume Simulations take considerable time. Therefore, the computation of the accuracy in 2D and 3D are often simplified by an approximate…

In this work, we study the robust subspace tracking (RST) problem and obtain one of the first two provable guarantees for it. The goal of RST is to track sequentially arriving data vectors that lie in a slowly changing low-dimensional…

Absolute pose estimation is a fundamental problem in computer vision, and it is a typical parameter estimation problem, meaning that efforts to solve it will always suffer from outlier-contaminated data. Conventionally, for a fixed…

The Perspective-n-Point (PnP) problem has been widely studied in the literature and applied in various vision-based pose estimation scenarios. However, existing methods ignore the anisotropy uncertainty of observations, as demonstrated in…

Global Navigation Satellite Systems (GNSS) provide standalone precise navigation for a wide gamut of applications. Nevertheless, applications or systems such as unmanned vehicles (aerial or ground vehicles and surface vessels) generally…

There is a growing need for vehicle positioning information to support Advanced Driver Assistance Systems (ADAS), Connectivity (V2X), and Automated Driving (AD) features. These range from a need for road determination (<5 meters), lane…

Signals of opportunity (SOPs) are a promising technique that can be used for relative positioning in areas where global navigation satellite system (GNSS) information is unreliable or unavailable. This technique processes features of the…

Nonlinear estimation in robotics and vision is typically plagued with outliers due to wrong data association, or to incorrect detections from signal processing and machine learning methods. This paper introduces two unifying formulations…

The ability to handle outliers is essential for performing the perspective-n-point (PnP) approach in practical applications, but conventional RANSAC+P3P or P4P methods have high time complexities. We propose a fast PnP solution named R1PPnP…

Global Navigation Satellite System (GNSS) receivers provide ubiquitous and precise position, navigation, and time (PNT) to a wide gamut of civilian and tactical infrastructures and devices. Due to the low GNSS received signal power, even…

We develop a new robust geographically weighted regression method in the presence of outliers. We embed the standard geographically weighted regression in robust objective function based on $\gamma$-divergence. A novel feature of the…

Due to the inability to receive signals from the Global Navigation Satellite System (GNSS) in extreme conditions, achieving accurate and robust navigation for Unmanned Aerial Vehicles (UAVs) is a challenging task. Recently emerged,…

A pose-graph-based optimization technique is widely used to estimate robot poses using various sensor measurements from devices such as laser scanners and cameras. The global navigation satellite system (GNSS) has recently been used to…

Global Navigation Satellite Systems (GNSS)-based positioning plays a crucial role in various applications, including navigation, transportation, logistics, mapping, and emergency services. Traditional GNSS positioning methods are…

A resilient and robust positioning, navigation, and timing (PNT) system is a necessity for the navigation of autonomous vehicles (AVs). Global Navigation Satelite System (GNSS) provides satellite-based PNT services. However, a spoofer can…

Indoor positioning faces ongoing challenges due to complex propagation conditions, such as multipath propagation, signal blockages, and intrinsic target characteristics that substantially impact measurement reliability and positioning…