相关论文: A framework for GNSS-based solutions performance a…
Accurate localization is a core component of a robot's navigation system. To this end, global navigation satellite systems (GNSS) can provide absolute measurements outdoors and, therefore, eliminate long-term drift. However, fusing GNSS…
The development and evaluation of Lidar-Inertial Odometry (LIO) and Simultaneous Localization and Mapping (SLAM) systems requires a precise ground truth. The Global Navigation Satellite System (GNSS) is often used as a foundation for this,…
Absolute positioning is an essential factor for the arrival of autonomous driving. Global Navigation Satellites System (GNSS) receiver provides absolute localization for it. GNSS solution can provide satisfactory positioning in open or…
Nowadays, the Internet of Things (IoT) has become one of the most important technologies which enables a variety of connected and intelligent applications in smart cities. The smart decision making process of IoT devices not only relies on…
The upcoming roll-out of the new wireless communication standard for wireless railway services, FRMCS, requires a thorough understanding of the system performance in real-world conditions, since this will strongly influence the deployment…
Positioning has recently received considerable attention as a key enabler in emerging applications such as extended reality, unmanned aerial vehicles and smart environments. These applications require both data communication and…
High-definition map with accurate lane-level information is crucial for autonomous driving, but the creation of these maps is a resource-intensive process. To this end, we present a cost-effective solution to create lane-level roadmaps…
Mapping and localization are crucial problems in robotics and autonomous driving. Recent advances in 3D Gaussian Splatting (3DGS) have enabled precise 3D mapping and scene understanding by rendering photo-realistic images. However, existing…
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…
Tracking locations is practical and speditive with smartphones, as they are omnipresent devices, relatively cheap, and have the necessary sensors for positioning and networking integrated in the same box. Nowadays recent models have GNSS…
Deep Neural Networks (DNNs) are a promising tool for Global Navigation Satellite System (GNSS) positioning in the presence of multipath and non-line-of-sight errors, owing to their ability to model complex errors using data. However,…
There have been various navigation and tracking systems being developed with the help of technologies like GPS, GSM, Bluetooth, IR, Wi-Fi and Radar. Outdoor positioning systems have been deployed quite successfully using GPS but positioning…
Many multi-sensor navigation systems urgently demand accurate positioning initialization from global navigation satellite systems (GNSSs) in challenging static scenarios. However, ground blockages against line-of-sight (LOS) signal…
Baseline generation for tracking applications is a difficult task when working with real world radar data. Data sparsity usually only allows an indirect way of estimating the original tracks as most objects' centers are not represented in…
Although deep learning has significantly advanced the perception capabilities of intelligent transportation systems, railway applications continue to suffer from a scarcity of high-quality, annotated data for safety-critical tasks like…
Predicting transportation modes from GPS (Global Positioning System) records is a hot topic in the trajectory mining domain. Each GPS record is called a trajectory point and a trajectory is a sequence of these points. Trajectory mining has…
The global navigation satellite systems (GNSS) play a vital role in transport systems for accurate and consistent vehicle localization. However, GNSS observations can be distorted due to multipath effects and non-line-of-sight (NLOS)…
This work addresses the challenge of developing a localization system for an uncrewed ground vehicle (UGV) operating autonomously in unstructured outdoor Global Navigation Satellite System (GNSS)-denied environments. The goal is to enable…
This paper proposes a highly accurate trajectory estimation method for outdoor mobile robots using global navigation satellite system (GNSS) time differences of carrier phase (TDCP) measurements. By using GNSS TDCP, the relative 3D position…
Visual-Inertial odometry (VIO) is known to suffer from drifting especially over long-term runs. In this paper, we present GVINS, a non-linear optimization based system that tightly fuses GNSS raw measurements with visual and inertial…