相关论文: UMLoc: Uncertainty-Aware Map-Constrained Inertial …
With the growth of location-based services, indoor localization is attracting great interests as it facilitates further ubiquitous environments. Specifically, device free localization using wireless signals is getting increased attention as…
In recent years there have been excellent results in Visual-Inertial Odometry techniques, which aim to compute the incremental motion of the sensor with high accuracy and robustness. However these approaches lack the capability to close…
The emerging Internet of Things (IoT) applications, such as driverless cars, have a growing demand for high-precision positioning and navigation. Nowadays, LiDAR inertial odometry becomes increasingly prevalent in robotics and autonomous…
The combination of ultrawideband (UWB) radios and inertial measurement units (IMU) can provide accurate positioning. To ensure reliable communication, the radios are generally mounted at the extremities of a mobile system whereas the IMUs…
Spatial navigation of indoor space usage patterns reveals important cues about the cognitive health of individuals. In this work, we present a low-cost, scalable, open-source edge computing system using Bluetooth Low Energy (BLE) and…
Accurate calibration of intrinsic (odometer scaling factors) and extrinsic parameters (IMU-odometer translation and rotation) is essential for autonomous ground vehicle localization. Existing GNSS-aided approaches often rely on positioning…
Relative positioning between multiple mobile users is essential for many applications, such as search and rescue in disaster areas or human social interaction. Inertial-measurement unit (IMU) is promising to determine the change of position…
While UWB-based methods can achieve high localization accuracy in small-scale areas, their accuracy and reliability are significantly challenged in large-scale environments. In this paper, we propose a learning-based framework named ULOC…
Infrastructure-based localization enhances road safety and traffic management by providing state estimates of road users. Development is hindered by fragmented, application-specific stacks that tightly couple perception, tracking, and…
Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…
This paper proposes a novel inertial-aided localization approach by fusing information from multiple inertial measurement units (IMUs) and exteroceptive sensors. IMU is a low-cost motion sensor which provides measurements on angular…
The miniaturization of inertial measurement units (IMUs) facilitates their widespread use in a growing number of application domains. Orientation estimation is a prerequisite for most further data processing steps in inertial motion…
This paper proposes a unified mathematical framework for inertial measurement unit (IMU) preintegration in inertial-aided navigation system in different frames under different motion condition. The navigation state is precisely discretized…
In the absence of external reference position information (e.g. GNSS) SLAM has proven to be an effective method for indoor navigation. The positioning drift can be reduced with regular loop-closures and global relaxation as the backend,…
This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement Unit (IMU) providing body-frame measurements of the angular…
Mapping and localization is a critical module of autonomous driving, and significant achievements have been reached in this field. Beyond Global Navigation Satellite System (GNSS), research in point cloud registration, visual feature…
In this paper, a simultaneous localization and mapping (SLAM) algorithm for tracking the motion of a pedestrian with a foot-mounted inertial measurement unit (IMU) is proposed. The algorithm uses two maps, namely, a motion map and a…
Ultra-wideband (UWB) has shown promising potential in GPS-denied localization thanks to its lightweight and drift-free characteristics, while the accuracy is limited in real scenarios due to its sensitivity to sensor arrangement and…
This paper presents a high-precision positioning system that integrates ultra-wideband (UWB) time difference of arrival (TDoA) measurements, inertial measurement unit (IMU) data, and ultrasonic sensors through factor graph optimization. To…
In the realm of robotics, achieving simultaneous localization and mapping (SLAM) is paramount for autonomous navigation, especially in challenging environments like texture-less structures. This paper proposed a factor-graph-based model…