相关论文: Learned Inertial Odometry for Cycling Based on Mix…

Building a complete inertial navigation system using the limited quality data provided by current smartphones has been regarded challenging, if not impossible. This paper shows that by careful crafting and accounting for the weak…

Precise, consistent, and reliable positioning is crucial for a multitude of uses. In order to achieve high precision global positioning services, multi-sensor fusion techniques, such as the Global Navigation Satellite System (GNSS)/Inertial…

Autonomous exploration of unknown environments with aerial vehicles remains a challenge, especially in perceptually degraded conditions. Dust, fog, or a lack of visual or LiDAR-based features results in severe difficulties for state…

Accurate Vehicle Trajectory Prediction is critical for automated vehicles and advanced driver assistance systems. Vehicle trajectory prediction consists of two essential tasks, i.e., longitudinal position prediction and lateral position…

In recent years, LiDAR-based localization and mapping methods have achieved significant progress thanks to their reliable and real-time localization capability. Considering single LiDAR odometry often faces hardware failures and degeneracy…

Inertial measurement units (IMUs), which provide high-frequency linear acceleration and angular velocity measurements, serve as fundamental sensing modalities in robotic systems. Recent advances in deep neural networks have led to…

This work demonstrates an airflow inertial based odometry system with multi-sensor data fusion, including thermal anemometer, IMU, ESC, and barometer. This goal is challenging because low-cost IMUs and barometers have significant bias, and…

GPS-based vehicle localization and tracking suffers from unstable positional information commonly experienced in tunnel segments and in dense urban areas. Also, both Visual Odometry (VO) and Visual Inertial Odometry (VIO) are susceptible to…

Odometer has been proven to significantly improve the accuracy of the Global Navigation Satellite System / Inertial Navigation System (GNSS/INS) integrated vehicle navigation in GNSS-challenged environments. However, the odometer is…

This paper presents a novel approach to vehicle positioning that operates without reliance on the global navigation satellite system (GNSS). Traditional GNSS approaches are vulnerable to interference in certain environments, rendering them…

Accurate robot odometry is essential for autonomous navigation. While numerous techniques have been developed based on various sensor suites, odometry estimation using only radar and IMU remains an underexplored area. Radar proves…

We present a novel technique for amortized posterior estimation using Normalizing Flows trained with likelihood-weighted importance sampling. This approach allows for the efficient inference of theoretical parameters in high-dimensional…

In this paper we propose a novel accurate method for dead-reckoning of wheeled vehicles based only on an Inertial Measurement Unit (IMU). In the context of intelligent vehicles, robust and accurate dead-reckoning based on the IMU may prove…

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…

Uncertainty quantification in PDE inverse problems is essential in many applications. Scientific machine learning and AI enable data-driven learning of model components while preserving physical structure, and provide the scalability and…

We present UNRIO, an uncertainty-aware radar-inertial odometry system that estimates ego-velocity directly from raw mmWave radar IQ signals rather than processed point clouds. Existing radar-inertial odometry methods rely on handcrafted…

Our goal is to send legged robots into challenging, unstructured terrains that wheeled systems cannot traverse. Moreover, precise estimation of the robot's position and orientation in rough terrain is especially difficult. To address this…

Predicting cycling duration for a given route is essential for training planning and event preparation. Existing solutions rely on physics-based models that require extensive parameterization, including aerodynamic drag coefficients and…

Recent advancements in Multimodal Large Language Models (LLMs) have focused primarily on scaling by increasing text-image pair data and enhancing LLMs to improve performance on multimodal tasks. However, these scaling approaches are…

Recent advances in computer vision has led to a growth of interest in deploying visual analytics model on mobile devices. However, most mobile devices have limited computing power, which prohibits them from running large scale visual…