相关论文: BIM-Constrained Optimization for Accurate Localiza…

Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…

We describe a set of tools for analyzing, visualizing, and assessing architectural/construction progress with unordered photo collections and 3D building models. With our interface, a user guides the registration of the model in one of the…

In dynamic environments, the ability to detect and track moving objects in real-time is crucial for autonomous robots to navigate safely and effectively. Traditional methods for dynamic object detection rely on high accuracy odometry and…

Structural Health Monitoring (SHM) has become increasingly critical due to the rapid deterioration of civil infrastructure. Traditional methods involving heavy equipment are costly and time-consuming. Recent SHM approaches use advanced…

In the absence of external reference position information (e.g. GNSS) SLAM has proven to be an effective method for indoor navigation. The positioning drift can be reduced with regular loop-closures and global relaxation as the backend,…

This paper introduces a complete method for the automatic detection, identification and localization of lighting elements in buildings, leveraging the available building information modeling (BIM) data of a building and feeding the BIM…

In recent years, thanks to the continuously reduced cost and weight of 3D Lidar, the applications of this type of sensor in robotics community have become increasingly popular. Despite many progresses, estimation drift and tracking loss are…

This paper proposes a fine-grained self-localization method for outdoor robotics that utilizes a flexible number of onboard cameras and readily accessible satellite images. The proposed method addresses limitations in existing cross-view…

Simultaneous localization and mapping (SLAM) is critical to the implementation of autonomous driving. Most LiDAR-inertial SLAM algorithms assume a static environment, leading to unreliable localization in dynamic environments. Moreover, the…

Accurate localization is an essential technology for the flexible navigation of robots in large-scale environments. Both SLAM-based and map-based localization will increase the computing load due to the increase in map size, which will…

LiDAR-based 3D mapping suffers from cumulative drift causing global misalignment, particularly in GNSS-constrained environments. To address this, we propose a unified framework that fuses LiDAR, GNSS, and IMU data for high-resolution…

The main focus of beam alignment is to find the optimal beam which yields the largest received signal strength (RSS) with faster speed.In this paper, we demonstrate an efficient beam alignment scheme with our testbed. The algorithm we…

Previous attempts to integrate Neural Radiance Fields (NeRF) into the Simultaneous Localization and Mapping (SLAM) framework either rely on the assumption of static scenes or require the ground truth camera poses, which impedes their…

This paper presents a localization system for mobile robots enabling precise localization in inaccurate building models. The approach leverages local referencing to counteract inherent deviations between as-planned and as-built data for…

Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…

Collapsing of structural buildings has been sighted commonly and the presence of potential faults has proved to be damaging to the buildings, resulting in accidents. It is essential to continuously monitor any building for faults where…

The interplay between large antenna apertures and high carrier frequencies in future wireless systems gives rise to near-field communications, where the curvature of spherical wavefronts renders traditional far-field beamforming models…

Image based reconstruction of urban environments is a challenging problem that deals with optimization of large number of variables, and has several sources of errors like the presence of dynamic objects. Since most large scale approaches…

The use of Internet of Things (IoT) technologies is becoming a preferred solution for the assessment of tailings dams' safety. Real-time sensor monitoring proves to be a key tool for reducing the risk related to these ever-evolving…

The visual simultaneous localization and mapping(vSLAM) is widely used in GPS-denied and open field environments for ground and surface robots. However, due to the frequent perception failures derived from lacking visual texture or the…