相关论文: Tram Positioning with Map-Enabled GNSS Data Reconc…

For reliable operation, next generation autonomous agents will need enhanced situational perception as well as precise navigation capabilities. The global navigation satellite system (GNSS) signals that are utilized by practically all…

The distributed filtering problem sequentially estimates a global state variable using observations from a network of local sensors with different measurement models. In this work, we introduce a novel methodology for distributed nonlinear…

One of the most critical topics in autonomous driving or ride-sharing technology is to accurately localize vehicles in the world frame. In addition to common multi-view camera systems, it usually also relies on industrial grade sensors,…

Motivated by the goal of achieving long-term drift-free camera pose estimation in complex scenarios, we propose a global positioning framework fusing visual, inertial and Global Navigation Satellite System (GNSS) measurements in multiple…

This paper presents a new optimal filter namely past observation-based extended Kalman filter for the problem of localization of Internet-based mobile robot in which the control input and the feedback measurement suffer from communication…

An essential function for automated vehicle technologies is accurate localization. It is difficult, however, to achieve lane-level accuracy with low-cost Global Navigation Satellite System (GNSS) receivers due to the biased noisy…

Sidelink positioning research predominantly focuses on the snapshot positioning problem, often within the mmWave band. Only a limited number of studies have delved into vehicle-to-anything (V2X) tracking within sub-6 GHz bands. In this…

Optimizing robot poses and the map simultaneously has been shown to provide more accurate SLAM results. However, for non-feature based SLAM approaches, directly optimizing all the robot poses and the whole map will greatly increase the…

Vehicle positioning is considered a key element in autonomous driving systems. While conventional positioning requires the use of GPS and/or beacon signals from network infrastructure for triangulation, they are sensitive to multi-path and…

In recent years, with the development of the Global Navigation Satellite System (GNSS), the satellite navigation technology has played a crucial role in smartphone navigation. To solve the problem of the low positioning accuracy in the…

The global navigation satellite systems (GNSS) play a vital role in transport systems for accurate and consistent vehicle localization. However, GNSS observations can be distorted due to multipath effects and non-line-of-sight (NLOS)…

This paper presents a novel real-time tracking system capable of improving body pose estimation algorithms in distributed camera networks. The first stage of our approach introduces a linear Kalman filter operating at the body joints level,…

In communication networks, channel estimation and user localization are challenging problems in harsh environments or signal-blocked areas. This paper introduces a novel approach to minimize the Mean Squared Error (MSE) in channel…

The sample covariance matrix of a random vector is a good estimate of the true covariance matrix if the sample size is much larger than the length of the vector. In high-dimensional problems, this condition is never met. As a result, in…

Location-based service (LBS) applications proliferate and support transportation, entertainment, and more. Modern mobile platforms, with smartphones being a prominent example, rely on terrestrial and satellite infrastructures (e.g., global…

Small-sized unmanned aerial vehicles (UAVs) have been widely investigated for use in a variety of applications such as remote sensing and aerial surveying. Direct three-dimensional (3D) mapping using a small-sized UAV equipped with a laser…

Ensemble Kalman filter (EnKF) is an important data assimilation method for high dimensional geophysical systems. Efficient implementation of EnKF in practice often involves the localization technique, which updates each component using only…

Accurate and reliable navigation is essential for autonomous ground vehicle operations. Standard INS/GNSS fusion relies on GNSS position updates, which provide limited observability of orientation and inertial sensor error states,…

We propose the first 4D tracking and mapping method that jointly performs camera localization and non-rigid surface reconstruction via differentiable rendering. Our approach captures 4D scenes from an online stream of color images with…

Digital sensing provides an unprecedented opportunity to assess and understand mobility. However, incompleteness, missing information, possible inaccuracies, and temporal heterogeneity in the geolocation data can undermine its…