相关论文: Sensor Misalignment-tolerant AUV Navigation with P…

The detection of underwater targets is severely affected by the non-uniform spatial characteristics of marine environmental noise. Additionally, the presence of both natural and anthropogenic acoustic sources, including shipping traffic,…

Unmanned aerial vehicles (UAVs) provide a novel means of extracting road and traffic information from video data. In particular, by analyzing objects in a video frame, UAVs can detect traffic characteristics and road incidents. Leveraging…

This paper presents a novel end-to-end Unmanned Aerial System (UAS) navigation approach for long-range visual navigation in the real world. Inspired by dual-process visual navigation system of human's instinct: environment understanding and…

As the cost and technical difficulty of jamming devices continue to decrease, jamming has become one of the major threats to positioning service. Unfortunately, most conventional technologies are vulnerable to jamming attacks due to their…

Autonomous platforms require accurate positioning to complete their tasks. To this end, a Kalman filter-based algorithms, such as the extended Kalman filter or invariant Kalman filter, utilizing inertial and external sensor fusion are…

This paper considers a bearings-only tracking problem using noisy measurements of unknown noise statistics from a passive sensor. It is assumed that the process and measurement noise follows the Gaussian distribution where the measurement…

This paper proposes a novel geometric solution for tracking a moving target through multistatic sensing. In contrast to existing two-step weighted least square (2SWLS) methods which use the bistatic range (BR) and bistatic range rate (BRR)…

Audio-Visual Segmentation (AVS) aims to identify, at the pixel level, the object in a visual scene that produces a given sound. Current AVS methods rely on costly fine-grained annotations of mask-audio pairs, making them impractical for…

We present a comprehensive framework for fusing measurements from multiple and generally placed accelerometers and gyroscopes to perform inertial navigation. Using the angular acceleration provided by the accelerometer array, we show that…

Direction-of-arrival (DOA) estimation refers to the process of retrieving the direction information of several electromagnetic waves/sources from the outputs of a number of receiving antennas that form a sensor array. DOA estimation is a…

Sensor fusion of camera, LiDAR, and 4-dimensional (4D) Radar has brought a significant performance improvement in autonomous driving. However, there still exist fundamental challenges: deeply coupled fusion methods assume continuous sensor…

This paper proposes an unmanned aerial vehicle (UAV)-based distributed sensing framework that uses orthogonal frequency-division multiplexing (OFDM) waveforms to detect the position of a ground target, and UAVs operate in half-duplex mode.…

Numerous communications and networking challenges prevent deploying unmanned aerial vehicles (UAVs) in extreme environments where the existing wireless technologies are mainly ground-focused; and, as a consequence, the air-to-air channel…

This paper presents the use of multi-sensor measurement system to guide autonomous mobile robot in the house. The system allows the 3D image acquisition to global mapping, and algorithms to reduce the dimensionality of images to 2D global…

Distorted sensors could occur randomly and may lead to the breakdown of a sensor array system. We consider an array model within which a small number of sensors are distorted by unknown sensor gain and phase errors. With such an array…

Unmanned aerial vehicle (UAV)-satellite communication has drawn dramatic attention for its potential to build the integrated space-air-ground network and the seamless wide-area coverage. The key challenge to UAV-satellite communication is…

One of the main issues for underwater robots navigation is their accurate positioning, which heavily depends on the orientation estimation phase. The systems employed to this scope are affected by different noise typologies, mainly related…

The inconsistency issue in the Visual-Inertial Navigation System (VINS) is a long-standing and fundamental challenge. While existing studies primarily attribute the inconsistency to observability mismatch, these analyses are often based on…

As we interact with the world, for example when we communicate with our colleagues in a large open space or meeting room, we continuously analyse the surrounding environment and, in particular, localise and recognise acoustic events. While…

The Unscented Kalman Filter (UKF) is a ubiquitous tool for nonlinear state estimation; however, its performance is limited by the static parameterization of the Unscented Transform (UT). Conventional weighting schemes, governed by fixed…