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— In this paper, we introduce dynamics factor graphs as a graphical framework to solve dynamics problems and kinodynamic motion planning problems with full consideration of whole-body dynamics and contacts....
Simultaneous localization and mapping (SLAM) is a fundamental requirement for mobile robots like self-driving cars. Vision-based methods have advantages in sensor cost and loop closure detection, but are sensitive to...
Relocalization inside pre-built maps provides a big benefit in the course of today's autonomous driving tasks where the map can be considered as an additional sensor for refining the estimated...
https://arc.aiaa.org/doi/abs/10.2514/6.2022-2218 Autonomous UAS navigation at low altitudes is often hindered by degradation of GNSS position estimates. The line of sight from the UAS to orbital satellites may be intersected by...
https://arxiv.org/abs/2112.13369 This paper develops a stop line aided cooperative positioning framework for connected vehicles, which creatively utilizes the location of the stop-line to achieve the positioning enhancement for a vehicular...
https://link.springer.com/article/10.1007/s10291-021-01217-9 GNSS signals are blocked in forests, urban canyons, and indoors. Precise positioning can hardly be guaranteed in these challenging environments. A low earth orbit (LEO) constellation serving as a...
This paper presents a tightly coupled pipeline, which efficiently fuses measurements of LiDAR, camera, IMU, encoder, and GNSS to estimate the robot state and build a map even in challenging...
https://arxiv.org/abs/2112.08563 In this paper, we present a global navigation satellite system (GNSS) aided LiDAR-visual-inertial scheme, RailLoMer-V, for accurate and robust rail vehicle localization and mapping. RailLoMer-V is formulated atop a...
https://link.springer.com/article/10.1007/s10291-021-01213-z The integration of global navigation satellite systems (GNSS) and inertial measurement unit (IMU) with the Kalman filter is widely used to enhance the availability of positioning in urban areas...
https://ieeexplore.ieee.org/abstract/document/9286491 We propose the first fast and certifiable algorithm for the registration of two sets of three-dimensional (3-D) points in the presence of large amounts of outlier correspondences. A certifiable...