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

Ultra-Wideband (UWB) systems are becoming increasingly popular for indoor localization, where range measurements are obtained by measuring the time-of-flight of radio signals. However, the range measurements typically suffer from a…

Massive multiple-input multiple-output (MIMO) radar, enabled by millimeter-wave virtual MIMO techniques, provides great promises to the high-resolution automotive sensing and target detection in unmanned ground/aerial vehicles (UGA/UAV). As…

Simultaneous Localization and Mapping (SLAM) allows mobile robots to navigate without external positioning systems or pre-existing maps. Radar is emerging as a valuable sensing tool, especially in vision-obstructed environments, as it is…

This paper presents a framework for the real-time initialization of unknown Ultra-Wideband (UWB) anchors in UWB-aided navigation systems. The method is designed for localization solutions where UWB modules act as supplementary sensors. Our…

Due to their large bandwidth, relatively low cost, and robust performance, UWB radio chips can be used for a wide variety of applications, including localization, communication, and radar. This article offers an exhaustive survey of recent…

Numerous Simultaneous Localization and Mapping (SLAM) algorithms have been presented in last decade using different sensor modalities. However, robust SLAM in extreme weather conditions is still an open research problem. In this paper,…

Efficient, accurate, and flexible relative localization is crucial in air-ground collaborative tasks. However, current approaches for robot relative localization are primarily realized in the form of distributed multi-robot SLAM systems…

With robots increasingly integrating into human environments, understanding and predicting human motion is essential for safe and efficient interactions. Modern human motion and activity prediction approaches require high quality and…

The assumption of scene rigidity is typical in SLAM algorithms. Such a strong assumption limits the use of most visual SLAM systems in populated real-world environments, which are the target of several relevant applications like service…

The intrinsic geometric connections between millimeter-wave (mmWave) signals and the propagation environment can be leveraged for simultaneous localization and mapping (SLAM) in 5G and beyond networks. However, estimated channel parameters…

Determining the position and orientation of a sensor vis-a-vis its surrounding, while simultaneously mapping the environment around that sensor or simultaneous localization and mapping is quickly becoming an important advancement in…

Accurate indoor localization is a crucial enabling technology for many robotics applications, from warehouse management to monitoring tasks. Ultra-wideband (UWB) time difference of arrival (TDOA)-based localization is a promising…

Coordination of multi-robot systems require some form of localization between agents, but most methods today rely on some external infrastructure. Ultra Wide Band (UWB) sensing has gained popularity in relative localization applications,…

Simultaneous Localization & Mapping (SLAM) is the process of building a mutual relationship between localization and mapping of the subject in its surrounding environment. With the help of different sensors, various types of SLAM systems…

Multi-sensor Simultaneous Localization and Mapping (SLAM) is essential for Unmanned Aerial Vehicles (UAVs) performing agricultural tasks such as spraying, surveying, and inspection. However, real-world, multi-modal agricultural UAV datasets…

Simultaneous localization and mapping (SLAM) is a fundamental task for numerous applications such as autonomous navigation and exploration. Despite many SLAM datasets have been released, current SLAM solutions still struggle to have…

This paper investigates unmanned aerial vehicle (UAV) localization using time difference of arrival (TDOA) measurements under mixed line-of-sight (LOS) and non-line-of-sight (NLOS) conditions. A 3D TDOA Cram\'er-Rao lower bound (CRLB) model…

Inter-agent relative localization is critical for any multi-robot system operating in the absence of external positioning infrastructure or prior environmental knowledge. We propose a novel inter-agent relative 2D pose estimation system…

Simultaneous localization and mapping (SLAM) is a critical capability for any autonomous underwater vehicle (AUV). However, robust, accurate state estimation is still a work in progress when using low-cost sensors. We propose enhancing a…

Recent work has shown impressive localization performance using only images of ground textures taken with a downward facing monocular camera. This provides a reliable navigation method that is robust to feature sparse environments and…