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

This paper addresses the challenging problem of robust path-following for fixed-wing unmanned aerial vehicles (UAVs) in complex environments with bounded external disturbances and non-smooth predefined paths. Due to the unique aerodynamic…

Reconfigurable Intelligent Surface (RIS) has been recognized as a promising solution for enhancing localization accuracy. Traditional RIS-based localization methods typically rely on prior channel knowledge, beam scanning, and pilot-based…

Global navigation satellite systems (GNSS) are vulnerable to spoofing attacks, with adversarial signals manipulating the location or time information of receivers, potentially causing severe disruptions. The task of discerning the spoofing…

Gaussian Processes (GPs) are expressive models for capturing signal statistics and expressing prediction uncertainty. As a result, the robotics community has gathered interest in leveraging these methods for inference, planning, and…

Outlier rejection and equivalently inlier set optimization is a key ingredient in numerous applications in computer vision such as filtering point-matches in camera pose estimation or plane and normal estimation in point clouds. Several…

Navigation inside a closed area with no GPS-signal accessibility is a highly challenging task. In order to tackle this problem, recently the imaging-based methods have grabbed the attention of many researchers. These methods either extract…

Context Progresses in GNSS-based solution introduction in rail applications GNSS (Global Navigation Satellite System) is now used in most of our travels and each of our smartphone apps. Most of the usages are not safety-critical. But Europe…

This paper studies the relative pose problem for autonomous vehicle driving in highly dynamic and possibly cluttered environments. This is a challenging scenario due to the existence of multiple, large, and independently moving objects in…

Given a set of points in the plane, the \textsc{General Position Subset Selection} problem is that of finding a maximum-size subset of points in general position, i.e., with no three points collinear. The problem is known to be ${\rm…

Unmanned Aerial Vehicles (UAVs) increasingly enhance the Quality of Service (QoS) in wireless networks due to their flexibility and cost-effectiveness. However, optimizing UAV placement in dynamic, obstacle-prone environments remains a…

Distance-based outlier detection is widely adopted in many fields, e.g., data mining and machine learning, because it is unsupervised, can be employed in a generic metric space, and does not have any assumptions of data distributions. Data…

We propose a new approach, the calibrated nonparametric scan statistic (CNSS), for more accurate detection of anomalous patterns in large-scale, real-world graphs. Scan statistics identify connected subgraphs that are interesting or…

Autonomous driving is an important trend of the automotive industry. The continuous research towards this goal requires a precise reference vehicle state estimation under all circumstances in order to develop and test autonomous vehicle…

Navigation of a mobile robot is conditioned on the knowledge of its pose. In observer-based localisation configurations its initial pose may not be knowable in advance, leading to the need of its estimation. Solutions to the problem of…

Object 6D pose estimation is a fundamental task in many applications. Conventional methods solve the task by detecting and matching the keypoints, then estimating the pose. Recent efforts bringing deep learning into the problem mainly…

Accurate camera pose estimation is a fundamental requirement for numerous applications, such as autonomous driving, mobile robotics, and augmented reality. In this work, we address the problem of estimating the global 6 DoF camera pose from…

With the rapid growth of the low-altitude economy, UAVs have become crucial for measurement and tracking in patrol systems. However, in GNSS-denied areas, satellite-based localization methods are prone to failure. This paper presents a…

Global navigation satellite system (GNSS) interference poses a serious threat to reliable positioning, especially in indoor and multipath-rich environments where source localization is highly challenging. In this paper, we formulate GNSS…

This paper presents a set of novel scan-matching techniques for vehicle pose estimation using automotive radar measurements. The proposed approach modifies the Normal Distributions Transform (NDT) -- a state-of-the-art scan-matching SLAM…

In robotic inspection of aviation parts, achieving accurate pairwise point cloud registration between scanned and model data is essential. However, noise and outliers generated in robotic scanned data can compromise registration accuracy.…