相关论文: Self-Corrective Sensor Fusion for Drone Positionin…
Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…
Multi-object tracking (MOT) on static platforms, such as by surveillance cameras, has achieved significant progress, with various paradigms providing attractive performances. However, the effectiveness of traditional MOT methods is…
The robustness and accuracy of a vision system for motion estimation of a tumbling target satellite are enhanced by an adaptive Kalman filter. This allows a vision-guided robot to complete the grasping of the target even if occlusion occurs…
Track geometry monitoring is essential for maintaining the safety and efficiency of railway operations. While Track Recording Cars (TRCs) provide accurate measurements of track geometry indicators, their limited availability and high…
In this paper, we focus on sensor placement in linear dynamic estimation, where the objective is to place a small number of sensors in a system of interdependent states so to design an estimator with a desired estimation performance. In…
This paper explores the process of designing an automatic multi-sensor drone detection system. Besides the common video and audio sensors, the system also includes a thermal infrared camera, which is shown to be a feasible solution to the…
We address the indoor localization problem, where the goal is to predict user's trajectory from the data collected by their smartphone, using inertial sensors such as accelerometer, gyroscope and magnetometer, as well as other environment…
In pace with the electronic technology development and the production technology improvement, industrial robot Give Scope to the Advantage in social services and industrial production. However, due to long-term mechanical wear and…
We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization. We use two fixed-lag smoothers (FLS) to decouple accurate…
The fusion between an inertial navigation system and global navigation satellite systems is regularly used in many platforms such as drones, land vehicles, and marine vessels. The fusion is commonly carried out in a model-based extended…
Drones estimate their position and orientation with the help of various sensors. Their data streams, that differ with respect to the sampling rate and standard deviation, need to be fused to get an accurate position and orientation…
Reliable multi-source fusion is crucial for robust perception in autonomous systems. However, evaluating fusion performance independently of detection errors remains challenging. This work introduces a systematic evaluation framework that…
To meet the immediate needs of environmental monitoring or hazardous event detection, we consider the automatic deployment of a group of low-cost or disposable sensors by a drone. Introducing sensors by drones to an environment instead of…
Fusing Radar and Lidar sensor data can fully utilize their complementary advantages and provide more accurate reconstruction of the surrounding for autonomous driving systems. Surround Radar/Lidar can provide 360-degree view sampling with…
Reliable curb detection is critical for safe autonomous driving in urban contexts. Curb detection and tracking are also useful in vehicle localization and path planning. Past work utilized a 3D LiDAR sensor to determine accurate distance…
The fusion of camera sensor and inertial data is a leading method for ego-motion tracking in autonomous and smart devices. State estimation techniques that rely on non-linear filtering are a strong paradigm for solving the associated…
Measured impulse responses obtained from a dynamic unmanned aerial vehicle (UAV) channel sounding system exhibit effects attributable to time-varying carrier frequency offset (CFO) and sampling frequency offset (SFO). To correct the…
This paper presents an implementation and evaluation of a Distributed Kalman--Consensus Filter (DKCF) for Multi-Object Tracking (MOT) in mobile robot networks operating under partial observability and heterogeneous localization uncertainty.…
The emerging drone aerial survey has the advantages of low cost, high efficiency, and flexible use. However, UAVs are often equipped with cheap POS systems and non-measurement cameras, and their flight attitudes are easily affected. How to…
Obstacle avoidance is a key feature for safe Unmanned Aerial Vehicle (UAV) navigation. While solutions have been proposed for static obstacle avoidance, systems enabling avoidance of dynamic objects, such as drones, are hard to implement…