相关论文: All-UWB SLAM Using UWB Radar and UWB AOA

Driven by applications like Micro Aerial Vehicles (MAVs), driver-less cars, etc, localization solution has become an active research topic in the past decade. In recent years, Ultra Wideband (UWB) emerged as a promising technology because…

Localization is a fundamental task in robotics for autonomous navigation. Existing localization methods rely on a single input data modality or train several computational models to process different modalities. This leads to stringent…

A robust nonlinear stochastic observer for simultaneous localization and mapping (SLAM) is proposed using the available uncertain measurements of angular velocity, translational velocity, and features. The proposed observer is posed on the…

Integrating multiple LiDAR sensors can significantly enhance a robot's perception of the environment, enabling it to capture adequate measurements for simultaneous localization and mapping (SLAM). Indeed, solid-state LiDARs can bring in…

The collaboration of unmanned aerial vehicles (UAVs) has become a popular research topic for its practicability in multiple scenarios. The collaboration of multiple UAVs, which is also known as aerial swarm is a highly complex system, which…

Navigating toy drones through uncharted GPS-denied indoor spaces poses significant difficulties due to their reliance on GPS for location determination. In such circumstances, the necessity for achieving proper navigation is a primary…

Robust and accurate tracking and localization of road users like pedestrians and cyclists is crucial to ensure safe and effective navigation of Autonomous Vehicles (AVs), particularly so in urban driving scenarios with complex…

Quadrupeds are robots that have been of interest in the past few years due to their versatility in navigating across various terrain and utility in several applications. For quadrupeds to navigate without a predefined map a priori, they…

This paper proposes a novel approach for Simultaneous Localization and Mapping by fusing natural and artificial landmarks. Most of the SLAM approaches use natural landmarks (such as keypoints). However, they are unstable over time,…

4D radars are increasingly favored for odometry and mapping of autonomous systems due to their robustness in harsh weather and dynamic environments. Existing datasets, however, often cover limited areas and are typically captured using a…

Intelligent transportation systems require accurate and reliable sensing. However, adverse environments, such as rain, snow, and fog, can significantly degrade the performance of LiDAR and cameras. In contrast, 4D mmWave radar not only…

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 surveys the state-of-the-art in the nexus of SLAM and Wireless Communications, attributing the bidirectional impact of each with a focus on visual SLAM (V-SLAM) integration. We provide an overview of key concepts related to…

As the cost and technical difficulty of jamming devices continue to decrease, jamming has become one of the major threats to positioning service. Unfortunately, most conventional technologies are vulnerable to jamming attacks due to their…

Open World Object Detection (OWOD) is a novel and challenging computer vision task that enables object detection with the ability to detect unknown objects. Existing methods typically estimate the object likelihood with an additional…

Despite the growing interest for autonomous environmental monitoring, effective SLAM realization in native habitats remains largely unsolved. In this paper, we fill this gap by presenting a novel online graph-based SLAM system for 2D LiDAR…

The high-dimensional basis of orbital angular momentum (OAM) has several added and unique advantages for photonics quantum technologies compared to the polarization basis, which is only two-dimensional. However, one of the major roadblocks…

Aerial base stations mounted on unmanned aerial vehicles (UAVs) support next-generation wireless networks in challenging environments such as urban areas, disaster zones, and remote locations. Further, UAV swarms overcome the challenges of…

To aide simultaneous localization and mapping (SLAM), future perception systems will incorporate forms of scene understanding. In a step towards fully integrated probabilistic geometric scene understanding, localization and mapping we…

We have proposed, to the best of our knowledge, the first-of-its-kind LiDAR-Inertial-Visual-Fused simultaneous localization and mapping (SLAM) system with a strong place recognition capacity. Our proposed SLAM system is consist of…