相关论文: AINS: Affordable Indoor Navigation Solution via Li…
This paper proposes a novel algorithm for vehicle speed-aided monocular visual-inertial localization using a topological map. The proposed system aims to address the limitations of existing methods that rely heavily on expensive sensors…
Robust autonomous navigation in environments with limited visibility remains a critical challenge in robotics. We present a novel approach that leverages Non-Line-of-Sight (NLOS) sensing using single-photon LiDAR to improve visibility and…
Monocular camera systems are prevailing in intelligent transportation systems, but by far they have rarely been used for dimensional purposes such as to accurately estimate the localization information of a vehicle. In this paper, we show…
We address the problem of finding the current position and heading angle of an autonomous vehicle in real-time using a single camera. Compared to methods which require LiDARs and high definition (HD) 3D maps in real-time, the proposed…
Security is of primary importance to vehicles. The viability of performing remote intrusions onto the in-vehicle network has been manifested. In regard to unmanned autonomous cars, limited work has been done to detect intrusions for them…
Filter-based visual inertial navigation system (VINS) has attracted mobile-robot researchers for the good balance between accuracy and efficiency, but its limited mapping quality hampers long-term high-accuracy state estimation. To this…
The monocular visual-inertial system (VINS), which consists one camera and one low-cost inertial measurement unit (IMU), is a popular approach to achieve accurate 6-DOF state estimation. However, such locally accurate visual-inertial…
Depth information is crucial for autonomous driving and intelligent robot navigation. The simplicity and flexibility of self-supervised monocular depth estimation are conducive to its role in these fields. However, most existing monocular…
We propose a framework that allows a mobile robot to build a map of an indoor scenario, identifying and highlighting objects that may be considered a hindrance to people with limited mobility. The map is built by combining recent…
Autonomous vehicles rely on perception systems to understand their surroundings for further navigation missions. Cameras are essential for perception systems due to the advantages of object detection and recognition provided by modern…
Depth estimation plays a important role in SLAM, odometry, and autonomous driving. Especially, monocular depth estimation is profitable technology because of its low cost, memory, and computation. However, it is not a sufficiently…
Strapdown inertial navigation systems (SINS) are ubiquitious in robotics and engineering since they can estimate a rigid body pose using onboard kinematic measurements without knowledge of the dynamics of the vehicle to which they are…
The use of autonomous UAVs for surveillance purposes and other reconnaissance tasks is increasingly becoming popular and convenient.These tasks requires the ability to successfully ingress through the rectangular openings or windows of the…
Majority of the existing robot navigation systems, which facilitate the use of laser range finders, sonar sensors or artificial landmarks, has the ability to locate itself in an unknown environment and then build a map of the corresponding…
Improving robotic navigation is critical for extending exploration range and enhancing operational efficiency. Vision-based navigation relying on traditional CCD or CMOS cameras faces major challenges when complex illumination conditions…
In this paper, we propose a vision-based solution for indoor Micro Air Vehicle (MAV) navigation, with a primary focus on its application within autonomous warehouses. Our work centers on the utilization of a single camera as the primary…
To help improve the safety and accessibility of indoor spaces, researchers and health professionals have created assessment instruments that enable homeowners and trained experts to audit and improve homes. With advances in computer vision,…
Monocular 3D object detection has recently shown promising results, however there remain challenging problems. One of those is the lack of invariance to different camera intrinsic parameters, which can be observed across different 3D object…
Autonomous mobility systems increasingly operate in dense and dynamic environments where perception occlusions, limited sensing coverage, and multi-agent interactions pose major challenges. While onboard sensors provide essential local…
Indoor navigation is a foundational technology to assist the tracking and localization of humans, autonomous vehicles, drones, and robots in indoor spaces. Due to the lack of penetration of GPS signals in buildings, subterranean locales,…