相关论文: Ground Penetrating Radar-Assisted Multimodal Robot…
This paper presents an efficient and accurate radar odometry pipeline for large-scale localization. We propose a radar filter that keeps only the strongest reflections per-azimuth that exceeds the expected noise level. The filtered radar…
This article presents GLIM, a 3D range-inertial localization and mapping framework with GPU-accelerated scan matching factors. The odometry estimation module of GLIM employs a combination of fixed-lag smoothing and keyframe-based point…
Recently, the progress in the radar sensing technology consisting in the miniaturization of the packages and increase in measuring precision has drawn the interest of the robotics research community. Indeed, a crucial task enabling autonomy…
Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting better and better, they remain a single point of failure in…
Unmanned and intelligent agricultural systems are crucial for enhancing agricultural efficiency and for helping mitigate the effect of labor shortage. However, unlike urban environments, agricultural fields impose distinct and unique…
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)…
In this paper, we present a novel factor graph formulation to estimate the pose and velocity of a quadruped robot on slippery and deformable terrain. The factor graph introduces a preintegrated velocity factor that incorporates velocity…
We present a novel trajectory traversability estimation and planning algorithm for robot navigation in complex outdoor environments. We incorporate multimodal sensory inputs from an RGB camera, 3D LiDAR, and the robot's odometry sensor to…
Ground penetrating radar (GPR) provides a promising technology for accurate subsurface object detection. In particular, it has shown promise for detecting landmines with low metal content. However, the ground bounce (GB) that is present in…
Accurate long-term localization using onboard sensors is crucial for robots operating in Global Navigation Satellite System (GNSS)-denied environments. While complementary sensors mitigate individual degradations, carrying all the available…
This paper presents a multimodal indoor odometry dataset, OdomBeyondVision, featuring multiple sensors across the different spectrum and collected with different mobile platforms. Not only does OdomBeyondVision contain the traditional…
Enabling autonomous robots to operate robustly in challenging environments is necessary in a future with increased autonomy. For many autonomous systems, estimation and odometry remains a single point of failure, from which it can often be…
Reliable radar inertial odometry (RIO) requires mitigating IMU bias drift, a challenge that intensifies in subterranean environments due to extreme temperatures and gravity-induced accelerations. Cost-effective IMUs such as the Pixhawk,…
Rotating FMCW radar odometry methods often assume flat ground conditions. While this assumption is sufficient in many scenarios, including urban environments or flat mining setups, the highly dynamic terrain of subarctic environments poses…
The mobile robot relies on SLAM (Simultaneous Localization and Mapping) to provide autonomous navigation and task execution in complex and unknown environments. However, it is hard to develop a dedicated algorithm for mobile robots due to…
Autonomous driving systems are highly dependent on sensors like cameras, LiDAR, and inertial measurement units (IMU) to perceive the environment and estimate their motion. Among these sensors, perception-based sensors are not protected from…
Accurate calibration of intrinsic (odometer scaling factors) and extrinsic parameters (IMU-odometer translation and rotation) is essential for autonomous ground vehicle localization. Existing GNSS-aided approaches often rely on positioning…
Ground Penetrating Radar (GPR) is a very useful non-destructive evaluation (NDE) device for locating and mapping underground assets prior to digging and trenching efforts in construction. This paper presents a novel robotic system to…
Ground penetrating radar (GPR) based localization has gained significant recognition in robotics due to its ability to detect stable subsurface features, offering advantages in environments where traditional sensors like cameras and LiDAR…
Odometry is crucial for robot navigation, particularly in situations where global positioning methods like global positioning system (GPS) are unavailable. The main goal of odometry is to predict the robot's motion and accurately determine…