相关论文: Indoor Drone Localization and Tracking Based on Ac…

We present Acoustic Inertial Measurement (AIM), a one-of-a-kind technique for indoor drone localization and tracking. Indoor drone localization and tracking are arguably a crucial, yet unsolved challenge: in GPS-denied environments,…

Navigating in environments where the GPS signal is unavailable, weak, purposefully blocked, or spoofed has become crucial for a wide range of applications. A prime example is autonomous navigation for drones in indoor environments: to fly…

Inertial odometry (IO) using strap-down inertial measurement units (IMUs) is critical in many robotic applications where precise orientation and position tracking are essential. Prior kinematic motion model-based IO methods often use a…

In many scenarios, unmanned aerial vehicles (UAVs), aka drones, need to have the capability of autonomous flying to carry out their mission successfully. In order to allow these autonomous flights, drones need to know their location…

Unmanned Aerial Vehicles (UAVs) have become widely used in various fields and industrial applications thanks to their low operational cost, compact size and wide accessibility. However, the noise generated by drone propellers has emerged as…

Drones in many applications need the ability to fly fully or partially autonomously to accomplish their mission. To allow these fully/partially autonomous flights, first, the drone needs to be able to locate itself constantly. Then the…

In recent years, the illicit use of unmanned aerial vehicles (UAVs) for deliveries in restricted area such as prisons became a significant security challenge. While numerous studies have focused on UAV detection or localization, little…

Indoor navigation is a foundational technology to assist the tracking and localization of humans, autonomous vehicles, drones, and robots in indoor spaces. Due to the lack of penetration of GPS signals in buildings, subterranean locales,…

We propose a novel compute-in-memory (CIM)-based ultra-low-power framework for probabilistic localization of insect-scale drones. The conventional probabilistic localization approaches rely on the three-dimensional (3D) Gaussian Mixture…

Indoor wireless ranging localization is a promising approach for low-power and high-accuracy localization of wearable devices. A primary challenge in this domain stems from non-line of sight propagation of radio waves. This study tackles a…

This paper proposes a new method that fuses acoustic measurements in the reverberation field and low-accuracy inertial measurement unit (IMU) motion reports for simultaneous localization and mapping (SLAM). Different from existing studies…

Indoor tracking and pose estimation, i.e., determining the position and orientation of a moving target, are increasingly important due to their numerous applications. While Inertial Navigation Systems (INS) provide high update rates, their…

Automatic drone landing is an important step for achieving fully autonomous drones. Although there are many works that leverage GPS, video, wireless signals, and active acoustic sensing to perform precise landing, autonomous drone landing…

Inertial localization is particularly valuable in GPS-denied environments such as indoors. However, localization using only Inertial Measurement Units (IMUs) suffers from drift caused by motion-process noise and sensor biases. This paper…

Inertial odometry (IO) using only Inertial Measurement Units (IMUs) offers a lightweight and cost-effective solution for Unmanned Aerial Vehicle (UAV) applications, yet existing learning-based IO models often fail to generalize to UAVs due…

This work presents a secure novel solution based on inertial measurement units to provide indoor location and positioning in airports. The use of different technologies allows to locate people with precision in this kind of indoor places…

This paper addresses the challenging problem of energy-efficient and uncertainty-aware pose estimation in insect-scale drones, which is crucial for tasks such as surveillance in constricted spaces and for enabling non-intrusive spatial…

Unmanned aerial vehicles (UAVs), commonly known as drones, are increasingly used across diverse domains, including logistics, agriculture, surveillance, and defense. While these systems provide numerous benefits, their misuse raises safety…

In this paper, we address the challenge of navigating through unknown indoor environments using autonomous aerial robots within confined spaces. The core of our system involves the integration of key sensor technologies, including depth…

Assessing the presence and abundance of birds is important for monitoring specific species as well as overall ecosystem health. Many birds are most readily detected by their sounds, and thus passive acoustic monitoring is highly…