相关论文: Self-Corrective Sensor Fusion for Drone Positionin…

The use of delivery services is an increasing trend worldwide, further enhanced by the COVID pandemic. In this context, drone delivery systems are of great interest as they may allow for faster and cheaper deliveries. This paper presents a…

In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…

Accurate motion capture of aerial robots in 3-D is a key enabler for autonomous operation in indoor environments such as warehouses or factories, as well as driving forward research in these areas. The most commonly used solutions at…

This paper discusses an innovative adaptive heterogeneous fusion algorithm based on estimation of the mean square error of all variables used in real time processing. The algorithm is designed for a fusion between derivative and absolute…

This paper presents a novel information-based mission planner for a drone tasked to monitor a spatially distributed dynamical phenomenon. For the sake of simplicity, the area to be monitored is discretized. The insight behind the proposed…

Swarm robots have sparked remarkable developments across a range of fields. While it is necessary for various applications in swarm robots, a fast and robust coordinate initialization in vision-based drone swarms remains elusive. To this…

Indoor tracking and pose estimation, i.e., determining the position and orientation of a moving target, are increasingly important due to their numerous applications. While Inertial Navigation Systems (INS) provide high update rates, their…

We propose a multisensor fusion framework for onboard real-time navigation of a quadrotor in an indoor environment, by integrating sensor readings from an Inertial Measurement Unit (IMU), a camera-based object detection algorithm, and an…

Autonomous Nano Aerial Vehicles have been increasingly popular in surveillance and monitoring operations due to their efficiency and maneuverability. Once a target location has been reached, drones do not have to remain active during the…

Infrastructure-based sensing and real-time trajectory generation show promise for improving safety in high-risk roadway segments such as work zones, yet practical deployments are hindered by perspective distortion, complex geometry,…

As drone use has become more widespread, there is a critical need to ensure safety and security. A key element of this is robust and accurate drone detection and localization. While cameras and other optical sensors like LiDAR are commonly…

This paper presents an adaptive learning method for data fusion in autonomous driving vehicles. The localization is based on the integration of Inertial Measurement Unit (IMU) with two Real-Time Kinematic (RTK) Global Positioning System…

Drones in many applications need the ability to fly fully or partially autonomously to accomplish their mission. To allow these fully/partially autonomous flights, first, the drone needs to be able to locate itself constantly. Then the…

Fifth-generation (5G) networks are expected to provide high-precision positioning estimation utilizing mmWave signals in urban and downtown areas. In such areas, 5G base stations (BSs) will be densely deployed, allowing for line-of-sight…

Reliable real-time 3D localization is essential for multi-UAV navigation, collision avoidance, and coordinated flight, yet onboard estimates can degrade under GNSS multipath, non-line-of-sight reception, vertical drift, and intentional…

Image retrieval (IR) has emerged as a promising approach for self-localization in unmanned aerial vehicles (UAVs). However, IR-based methods face several challenges: 1) Pre- and post-processing incur significant computational and storage…

In many scenarios, unmanned aerial vehicles (UAVs), aka drones, need to have the capability of autonomous flying to carry out their mission successfully. In order to allow these autonomous flights, drones need to know their location…

Unmanned Aerial Vehicles (UAVs), in particular Drones, have gained significant importance in diverse sectors, mainly military uses. Recently, we can see a growth in acceptance of autonomous UAVs in civilian spaces as well. However, there is…

Chemical multisensor devices need calibration algorithms to estimate gas concentrations. Their possible adoption as indicative air quality measurements devices poses new challenges due to the need to operate in continuous monitoring modes…

Accurate localization and tracking are a fundamental requirement for robotic applications. Localization systems like GPS, optical tracking, simultaneous localization and mapping (SLAM) are used for daily life activities, research, and…