相关论文: Wheel Odometry-Based Localization for Autonomous W…
To date, self-driving experimental wheelchair technologies have been either inexpensive or robust, but not both. Yet, in order to achieve real-world acceptance, both qualities are fundamentally essential. We present a unique approach to…
When a vehicle observes another one, the two vehicles' poses are correlated by this spatial relative observation, which can be used in cooperative localization for further increasing localization accuracy and precision. To use spatial…
For autonomous vehicles, high-precision real-time localization is the guarantee of stable driving. Compared with the visual odometry (VO), the LiDAR odometry (LO) has the advantages of higher accuracy and better stability. However, 2D LO is…
LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…
Self-localization is an important technology for automating bulldozers. Conventional bulldozer self-localization systems rely on RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems). However, RTK-GNSS signals are sometimes…
Environment modeling utilizing sensor data fusion and object tracking is crucial for safe automated driving. In recent years, the classical occupancy grid map approach, which assumes a static environment, has been extended to dynamic…
The majority of existing LiDAR odometry solutions are based on simple geometric features such as points, lines or planes which cannot fully reflect the characteristics of surrounding environments. In this study, we propose a novel LiDAR…
Accurate localization is crucial for effectively operating mobile robots in indoor environments. This paper presents a comprehensive approach to mobile robot localization by integrating an ultrasound-based indoor positioning system (IPS)…
This paper presents a radar odometry method that combines probabilistic trajectory estimation and deep learned features without needing groundtruth pose information. The feature network is trained unsupervised, using only the on-board radar…
Obtaining the position of ego-vehicle is a crucial prerequisite for automatic control and path planning in the field of autonomous driving. Most existing positioning systems rely on GPS, RTK, or wireless signals, which are arduous to…
In the paper, we propose a robust real-time visual odometry in dynamic environments via rigid-motion model updated by scene flow. The proposed algorithm consists of spatial motion segmentation and temporal motion tracking. The spatial…
This article addresses the localization problem in robotic autonomous luggage trolley collection at airports and provides a systematic evaluation of different methods to solve it. The robotic autonomous luggage trolley collection is a…
Pedestrians and drivers interact closely in a wide range of environments. Autonomous vehicles (AVs) correspondingly face the need to predict pedestrians' future trajectories in these same environments. Traditional model-based prediction…
Accurate localization in diverse environments is a fundamental challenge in computer vision and robotics. The task involves determining a sensor's precise position and orientation, typically a camera, within a given space. Traditional…
Navigation is one of the most widely used applications of the Location Based Services (LBS) which have become part of our digitally informed daily lives. Navigation services, however, have generally been designed for drivers rather than…
Increasingly, autonomous vehicles (AVs) are becoming a reality, such as the Advanced Driver Assistance Systems (ADAS) in vehicles that assist drivers in driving and parking functions with vehicles today. The localization problem for AVs…
Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in popularity thanks to their robustness to harsh environmental…
The estimation of the orientation of an observed vehicle relative to an Autonomous Vehicle (AV) from monocular camera data is an important building block in estimating its 6 DoF pose. Current Deep Learning based solutions for placing a 3D…
We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions…
In the context of robotic underwater operations, the visual degradations induced by the medium properties make difficult the exclusive use of cameras for localization purpose. Hence, most localization methods are based on expensive…