相关论文: Ground Penetrating Radar-Assisted Multimodal Robot…
In autonomous driving, robust place recognition is critical for global localization and loop closure detection. While inter-modality fusion of camera and LiDAR data in multimodal place recognition (MPR) has shown promise in overcoming the…
Place recognition is a crucial component that enables autonomous vehicles to obtain localization results in GPS-denied environments. In recent years, multimodal place recognition methods have gained increasing attention. They overcome the…
Robotic mapping is attractive in many scientific applications that involve environmental surveys. This paper presents a system for localization and mapping of sparsely distributed surface features such as precariously balanced rocks (PBRs),…
The forward full-wave modeling of ground-penetrating radar (GPR) facilitates the understanding and interpretation of GPR data. Traditional forward solvers require excessive computational resources, especially when their repetitive…
Autonomous navigation for legged robots in complex and dynamic environments relies on robust simultaneous localization and mapping (SLAM) systems to accurately map surroundings and localize the robot, ensuring safe and efficient operation.…
Mobile robots rely on odometry to navigate through areas where localization fails. Visual odometry (VO) is a common solution for obtaining robust and consistent relative motion estimates of the vehicle frame. Contrarily, Global Positioning…
Lidar odometry (LO) is a key technology in numerous reliable and accurate localization and mapping systems of autonomous driving. The state-of-the-art LO methods generally leverage geometric information to perform point cloud registration.…
In this contribution, we investigate the potential of hyperspectral data combined with either simulated ground penetrating radar (GPR) or simulated (sensor-like) soil-moisture data to estimate soil moisture. We propose two simulation…
Accurate altitude estimation and reliable floor recognition are critical for mobile robot localization and navigation within complex multi-storey environments. In this paper, we present a robust, low-cost vertical estimation framework…
In this work, we introduce a highly efficient algorithm to address the nonnegative matrix underapproximation (NMU) problem, i.e., nonnegative matrix factorization (NMF) with an additional underapproximation constraint. NMU results are…
For a wide range of clinical applications, such as adaptive treatment planning or intraoperative image update, feature-based deformable registration (FDR) approaches are widely employed because of their simplicity and low computational…
The state-of-the-art automotive radars employ multidimensional discrete Fourier transforms (DFT) in order to estimate various target parameters. The DFT is implemented using the fast Fourier transform (FFT), at sample and computational…
The horizontal orientation angle and vertical inclination angle of an elongated subsurface object are key parameters for object identification and imaging in ground penetrating radar (GPR) applications. Conventional methods can only extract…
Seamless situational awareness provided by modern radar systems relies on effective methods for multiobject tracking (MOT). This paper presents a graph-based Bayesian method for nonlinear and high-dimensional MOT problems that embeds…
In this paper, we propose a radar odometry structure that directly utilizes radar velocity measurements for dead reckoning while maintaining its ability to update estimations within the Kalman filter framework. Specifically, we employ the…
In this paper we consider the development of algorithms for the automatic detection of buried threats using ground penetrating radar (GPR) measurements. GPR is one of the most studied and successful modalities for automatic buried threat…
Autonomous robotic systems heavily rely on environment knowledge to safely navigate. For search & rescue, a flying robot requires robust real-time perception, enabled by complementary sensors. IMU data constrains acceleration and rotation,…
With the increasing application of robots, stable and efficient Visual Odometry (VO) algorithms are becoming more and more important. Based on the Fourier Mellin Transformation (FMT) algorithm, the extended Fourier Mellin Transformation…
Estimating subsurface dielectric properties is essential for applications ranging from environmental surveys of soils to nondestructive evaluation of concrete in infrastructure. Conventional wave inversion methods typically assume few…
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…