相关论文: SMDS-based Rigid Body Localization
We address automotive odometry for low-speed driving and parking, where centimeter-level accuracy is required due to tight spaces and nearby obstacles. Traditional methods using inertial-measurement units and wheel encoders require…
This paper presents Range-SLAM, a real-time, lightweight SLAM system designed to address the challenges of localization and mapping in environments with smoke and other harsh conditions using Ultra-Wideband (UWB) signals. While optical…
The phenomenon of many-body localised (MBL) systems has attracted significant interest in recent years, for its intriguing implications from a perspective of both condensed-matter and statistical physics: they are insulators even at…
Mutual localization provides a consensus of reference frame as an essential basis for cooperation in multirobot systems. Previous works have developed certifiable and robust solvers for relative transformation estimation between each pair…
Visual relocalization is crucial for autonomous visual localization and navigation of mobile robotics. Due to the improvement of CNN-based object detection algorithm, the robustness of visual relocalization is greatly enhanced especially in…
Visual-inertial simultaneous localization and mapping (SLAM) is a key module of robotics and low-speed autonomous vehicles, which is usually limited by the high computation burden for practical applications. To this end, an innovative…
Quantum many-body systems with sufficiently strong disorder can exhibit a non-equilibrium phenomenon, known as the many-body localization (MBL), which is distinct from conventional thermalization. While the MBL regime has been extensively…
Reconfigurable intelligent surface (RIS) has been recognized as a promising solution for enhancing localization accuracy. Traditional RIS-based localization methods typically rely on prior channel knowledge, beam scanning, and pilot-based…
This paper presents a distributed rule-based Lloyd algorithm (RBL) for multi-robot motion planning and control. The main limitations of the basic Loyd-based algorithm (LB) concern deadlock issues and the failure to address dynamic…
Localization systems based on ultra-wide band (UWB) measurements can have unsatisfactory performance in harsh environments due to the presence of non-line-of-sight (NLOS) errors. Learning-based methods for error mitigation have shown great…
Most Machine Learning (ML) methods, from clustering to classification, rely on a distance function to describe relationships between datapoints. For complex datasets it is hard to avoid making some arbitrary choices when defining a distance…
In this paper, we propose an efficient algorithm for robust place recognition and loop detection using camera information only. Our pipeline purely relies on spatial localization and semantic information of road markings. The creation of…
Due to their ubiquity and long-term stability, pole-like objects are well suited to serve as landmarks for vehicle localization in urban environments. In this work, we present a complete mapping and long-term localization system based on…
The mobile robot relies on SLAM (Simultaneous Localization and Mapping) to provide autonomous navigation and task execution in complex and unknown environments. However, it is hard to develop a dedicated algorithm for mobile robots due to…
Reinforcement learning (RL) has shown great potential for solving complex tasks in a variety of domains. However, applying RL to safety-critical systems in the real-world is not easy as many algorithms are sample-inefficient and maximising…
In the present work, a reinforcement learning (RL) based adaptive algorithm to optimise the transmit beampattern for a colocated massive MIMO radar is presented. Under the massive MIMO regime, a robust Wald type detector, able to guarantee…
In object-based Simultaneous Localization and Mapping (SLAM), 6D object poses offer a compact representation of landmark geometry useful for downstream planning and manipulation tasks. However, measurement ambiguity then arises as objects…
Recently it has been suggested that many-body localization (MBL) can occur in translation-invariant systems, and candidate 1D models have been proposed. We find that such models, in contrast to MBL systems with quenched disorder, typically…
Many-body localization (MBL) is an intriguing physical phenomenon that arises from the interplay of interaction and disorder, allowing quantum systems to prevent thermalization. In this study, we investigate the MBL properties of the fully…
Bearing-only Target Motion Analysis (TMA) is a promising technique for passive tracking in various applications as a bearing angle is easy to measure. Despite its advantages, bearing-only TMA is challenging due to the nonlinearity of the…