相关论文: Robust Position Estimation by Rao-Blackwellized Pa…

Global Positioning System (GPS) is a satellite network that transmits regularly encoded information and makes it possible to pinpoint the exact location on Earth by measuring the distance between satellites and the receiver. While GPS…

This paper addresses state estimation of linear systems with special attention on unknown process and measurement noise covariances, aiming to enhance estimation accuracy while preserving the stability guarantee of the Kalman filter. To…

The Bootstrap Particle Filter (BPF) and the Ensemble Kalman Filter (EnKF) are two widely used methods for sequential Bayesian filtering: the BPF is asymptotically exact but can suffer from weight degeneracy, while the EnKF scales well in…

Reliable manipulation of previously unseen objects remains a fundamental challenge for autonomous robotic systems operating in unstructured environments. In particular, robust pick-and-place planning directly from noisy and only partial…

Most of the correlation filter based tracking algorithms can achieve good performance and maintain fast computational speed. However, in some complicated tracking scenes, there is a fatal defect that causes the object to be located…

The integration of large-scale circuits and systems emphasizes the importance of automated defect detection of electronic components. The YOLO image detection model has been used to detect PCB defects and it has become a typical AI-assisted…

Radio frequency (RF) signal-based localization using modern cellular networks has emerged as a promising solution to accurately locate objects in challenging environments. One of the most promising solutions for situations involving…

The phase-field approach to brittle fracture provides a continuum framework for modeling crack initiation and propagation without explicit representation of discrete crack surfaces, provided the spatial discretization is fine enough to…

Future cellular networks that utilize millimeter wave signals provide new opportunities in positioning and situational awareness. Large bandwidths combined with large antenna arrays provide unparalleled delay and angle resolution, allowing…

Emitter localization is widely applied in the military and civilian _elds. In this paper, we tackle the problem of position estimation for multiple stationary emitters using Doppler frequency shifts and angles by moving receivers. The…

This paper presents an extension of the DRIFT invariant state estimation framework, enabling robust fusion of GPS and IMU data for accurate pose and heading estimation. Originally developed for testing and usage on a marine autonomous…

Positioning problem can be solved with several approaches in 5G. This paper introduces RT (Ray Tracing) technique for small-cell Outdoor positioning and tracking for systems with distributed architecture with multipath processing gain.…

In this paper, we propose a two-stage weighted projection method (TS-WPM) for time-difference-of-arrival (TDOA)-based localization, providing provable improvements in positioning accuracy, particularly under high geometric dilution of…

The probabilistic velocity obstacle (PVO) extends the concept of velocity obstacle (VO) to work in uncertain dynamic environments. In this paper, we show how a robust model predictive control (MPC) with PVO constraints under non-parametric…

Precise camera localization is a critical task in XR applications and robotics. Using only the camera captures as input to a system is an inexpensive option that enables localization in large indoor and outdoor environments, but it presents…

Metric Cross-View Geo-Localization (MCVGL) aims to estimate the 3-DoF camera pose (position and heading) by matching ground and satellite images. In this work, instead of pinhole and satellite images, we study robust MCVGL using holistic…

Particle filters (PFs), which are successful methods for approximating the solution of the filtering problem, can be divided into two types: weighted and unweighted PFs. It is well known that weighted PFs suffer from the weight degeneracy…

Due to the importance of satellites for society and the exponential increase in the number of objects in orbit, it is important to accurately determine the state (e.g., position and velocity) of these Resident Space Objects (RSOs) at any…

In this paper, we study a navigation problem where a mobile robot needs to locate a mmWave wireless signal. Using the directionality properties of the signal, we propose an estimation and path planning algorithm that can efficiently…

The robust estimation of dynamically changing features, such as the position of prey, is one of the hallmarks of perception. On an abstract, algorithmic level, nonlinear Bayesian filtering, i.e. the estimation of temporally changing signals…