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

Fast pose estimation (PE) is of vital importance for successful mission performance of agile autonomous robots. Global Positioning Systems such as GPS and GNSS have been typically used in fusion with Inertial Navigation Systems (INS) for…

This paper proposes a new method for RTK post-processing. Different from the traditional forward-backward Kalman filter, in our method, the whole system equation is built on a graphical state space model and solved by factor graph…

The particle filter (PF) is a powerful inference tool widely used to estimate the filtering distribution in non-linear and/or non-Gaussian problems. To overcome the curse of dimensionality of PF, the block PF (BPF) inserts a blocking step…

Can we localize a robot on a map only using monocular vision? This study presents NuRF, an adaptive and nudged particle filter framework in radiance fields for 6-DoF robot visual localization. NuRF leverages recent advancements in radiance…

This paper focuses on Sequential Monte Carlo approximations of smoothing distributions in conditionally linear and Gaussian state spaces. To reduce Monte Carlo variance of smoothers, it is typical in these models to use…

This study proposes a new Gaussian Mixture Filter (GMF) to improve the estimation performance for the autonomous robotic radio signal source search and localization problem in unknown environments. The proposed filter is first tested with a…

This paper presents a 6-DoF range-based Monte Carlo localization method with a GPU-accelerated Stein particle filter. To update a massive amount of particles, we propose a Gauss-Newton-based Stein variational gradient descent (SVGD) with…

Intraoperative tracking of surgical instruments is an inevitable task of computer-assisted surgery. An optical tracking system often fails to precisely reconstruct the dynamic location and pose of a surgical tool due to the acquisition…

Particle Filtering (PF) methods are an established class of procedures for performing inference in non-linear state-space models. Resampling is a key ingredient of PF, necessary to obtain low variance likelihood and states estimates.…

Nonlinear filtering with standard PF methods requires mitigative techniques to quell weight degeneracy, such as resampling. This is especially true in high-dimensional systems with sparse observations. Unfortunately, such techniques are…

Many multi-sensor navigation systems urgently demand accurate positioning initialization from global navigation satellite systems (GNSSs) in challenging static scenarios. However, ground blockages against line-of-sight (LOS) signal…

The nature of pre-determined and on-demand mobile network fabrics can be exploited for real time Position Location and Tracking (PL&T) of radios and sensors (nodes) for Global Positioning System (GPS) denied or GPS-free systems. This issue…

Advances in compact sensing devices mounted on satellites have facilitated the collection of large spatio-temporal datasets with coordinates. Since such datasets are often incomplete and noisy, it is useful to create the prediction surface…

Satellite dynamics and tracking remain important challenges in the context of space exploration and communication systems. Accurate state estimation is essential to maintain reliable orbital motion and system performance. This paper…

The application of radio-based positioning systems is ever increasing. In light of the dissemination of the Internet of Things and location-aware communication systems, the demands on localization architectures and amount of possible use…

This paper investigates the state estimation problem for unknown linear systems subject to both process and measurement noise. Based on a prior input-output trajectory sampled at a higher frequency and a prior state trajectory sampled at a…

We consider state and parameter estimation in multiple target tracking problems with data association uncertainties and unknown number of targets. We show how the problem can be recast into a conditionally linear Gaussian state-space model…

This work studies the state estimation problem of a stochastic nonlinear system with unknown sensor measurement losses. If the estimator knows the sensor measurement losses of a linear Gaussian system, the minimum variance estimate is…

This paper proposes a framework for 3D obstacle avoidance in the presence of partial observability of environment obstacles. The method focuses on the utility of the Artificial Potential Function (APF) controller in a practical setting…

The accurate geo-localization of mobile devices based upon received signal strength (RSS) in an urban area is hindered by obstacles in the signal propagation path. Current localization methods have their own advantages and drawbacks.…