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Adaptive UKF-SLAM Based on Magnetic Gradient Inversion Method for Underwater Navigation [chapter]

Meng Wu, Jian Yao
2015 Lecture Notes in Computer Science  
To this end, we propose an adaptive SLAM-based magnetic gradient aided navigation with the following advantages: (1) Adaptive SLAM is an efficient way to deal with uncertainty of the measurement model.  ...  (2) Magnetic gradient inversion equation is a good alternative to be used as measurement equation in visual SLAM-denied environment.  ...  Based on the experimental results, it proves that SLAM based on adaptive UKF with magnetic gradient inversion method is feasible under harsh and real-time underwater condition.  ... 
doi:10.1007/978-3-319-22876-1_21 fatcat:vjnj7avjwfdmbgbmnkhuzwbyoe

Adaptive UKF-SLAM based on magnetic gradient inversion method for underwater navigation

Meng Wu, Jian Yao
2015 2015 International Conference on Unmanned Aircraft Systems (ICUAS)  
To this end, we propose an adaptive SLAM-based magnetic gradient aided navigation with the following advantages: (1) Adaptive SLAM is an efficient way to deal with uncertainty of the measurement model.  ...  (2) Magnetic gradient inversion equation is a good alternative to be used as measurement equation in visual SLAM-denied environment.  ...  Based on the experimental results, it proves that SLAM based on adaptive UKF with magnetic gradient inversion method is feasible under harsh and real-time underwater condition.  ... 
doi:10.1109/icuas.2015.7152369 fatcat:73h4flk6yfgsbiknzz32tceee4

Adaptive Navigation Algorithm with Deep Learning for Autonomous Underwater Vehicle

Hui Ma, Xiaokai Mu, Bo He
2021 Sensors  
Precise navigation is essential for autonomous underwater vehicles (AUVs).  ...  Thirdly, the adaptive filter, based on the variational Bayesian (VB) method, is employed to estimate the navigation information simultaneous with the measurement covariance, improving navigation accuracy  ...  Conclusions In this work, we developed an adaptive navigation algorithm based on deep learning.  ... 
doi:10.3390/s21196406 pmid:34640726 fatcat:v422mtytrfci7n3j42mp6zexre

State Estimation for Autonomous Flight in Cluttered Environments

Jack W. Langelaan
2007 Journal of Guidance Control and Dynamics  
By allowing us to find our own research projects he sends us off on a long, tangled journey.  ...  Most importantly I am grateful for the family-friendly environment he fosters, encouraging all of us with children to take the time to watch them grow.  ...  Benthic navigation for Underwater Vehicles Autonomous underwater vehicles (AUVs) do not have access to GPS signals.  ... 
doi:10.2514/1.27770 fatcat:ay5sbtetive2hmxzzcughiafdq

Program

2019 2019 International Conference on Control, Automation and Information Sciences (ICCAIS)  
algorithm based on residual gradient method.  ...  The final part of this tutorial will focus on the implementation details of RFS based robotic navigation and mapping/SLAM algorithms.  ...  as the number of people in an elevator cab can be estimated and judged for security evaluation.  ... 
doi:10.1109/iccais46528.2019.9074650 fatcat:f3libdixzvez3kaeyb5dubekrq

Survey of Datafusion Techniques for Laser and Vision Based Sensor Integration for Autonomous Navigation

Prasanna Kolar, Patrick Benavidez, Mo Jamshidi
2020 Sensors  
We review various types of sensors, their data, and the need for fusion of the data with each other to output the best data for the task at hand, which in this case is autonomous navigation.  ...  Such systems can be used in various areas of life like safe mobility for the disabled, senior citizens, and so on and are dependent on accurate sensor information in order to function optimally.  ...  However, a detailed study of SLAM is out of the scope of this survey. Aguilar developed a path planner based on RRT* [197] for real-time navigation.  ... 
doi:10.3390/s20082180 pmid:32290582 pmcid:PMC7218742 fatcat:ngfckkvp3fc23o7idvivlhdzbq

2021 Index IEEE Transactions on Instrumentation and Measurement Vol. 70

2021 IEEE Transactions on Instrumentation and Measurement  
Article numbers are based on specified topic areas and corresponding codes associated with the publication.  ...  The Author Index contains the primary entry for each item, listed under the first author's name.  ...  ., +, TIM 2021 7001013 Autonomous underwater vehicles A New Coupled Method of SINS/DVL Integrated Navigation Based on Improved Dual Adaptive Factors.  ... 
doi:10.1109/tim.2022.3156705 fatcat:dmqderzenrcopoyipv3v4vh4ry

2021 Index IEEE Transactions on Vehicular Technology Vol. 70

2021 IEEE Transactions on Vehicular Technology  
The Author Index contains the primary entry for each item, listed under the first author's name.  ...  Li, G., +, TVT Jan. 2021 886-899 Adaptive filters A Vehicle Handling Inverse Dynamics Method for Emergency Avoidance Path Tracking Based on Adaptive Inverse Control.  ...  ., +, TVT Jan. 2021 682-691 A Vehicle Handling Inverse Dynamics Method for Emergency Avoidance Path Tracking Based on Adaptive Inverse Control.  ... 
doi:10.1109/tvt.2022.3151213 fatcat:vzuzqu54irebpibzp3ykgy5nca

2020 Index IEEE Transactions on Vehicular Technology Vol. 69

2020 IEEE Transactions on Vehicular Technology  
+ Check author entry for coauthors ami-mFading Channels With Integer and Non-Integerm; TVT March 2020 2785-2801 Hoang, T.M., Tran, X.N., Nguyen, B.C., and Dung, L.T., On the Performance of MIMO Full-Duplex  ...  . 2020 9938-9950 Hoki, K., see Kawakami, T., TVT Dec. 2020 16168-16172 Hong, C., Shan, H., Song, M., Zhuang, W., Xiang, Z., Wu, Y., and Yu, X., A Joint Design of Platoon Communication and Control Based  ...  ., +, TVT July 2020 7223- 7233 An IMM-UKF Aided SINS/USBL Calibration Solution for Underwater Vehicles.  ... 
doi:10.1109/tvt.2021.3055470 fatcat:536l4pgnufhixneoa3a3dibdma

A Low-cost SLAM Fusion Algorithm for Robot Localization

Ruifan Wu
2019
The ability for a robot to solve the simultaneous localization and mapping (SLAM) problem is required to navigate unknown environments.  ...  Many approaches for solving the SLAM problem have been proposed, but most of these require expensive LiDAR sensors.  ...  Graph optimization methods such as TORO (a tree-based network optimizer) [26] and g2o (general graph optimizer) [27] use theclassic optimization methods of gradient descent and Levenberg-Marquardt  ... 
doi:10.7939/r3-bk65-rm76 fatcat:mkcfyon4uvhdpeulzmxz37hsea

Cooperative Localization in Mobile Underwater Acoustic Sensor Networks

Sergej Neumann
2021
Satelitengestützte Navigation ist in der Tiefe nicht möglich, da Radiowellen bereits nach wenigen Metern im Wasser stark an Intensität verlieren.  ...  In dieser Arbeit wird ein kooperativer Lokalisierungsansatz vorgestellt, welcher auf dem Nachrichtenaustausch durch akustische Ultra-Short Base-Line (USBL) Modems basiert.  ...  The proposed method is based on message exchange via acoustic ultra-short base-line (USBL) modems.  ... 
doi:10.5445/ir/1000139686 fatcat:mq4tozhlezbuzlfxn3fc5euwp4

Wheel Odometry Aided Visual-Inertial Odometry in Winter Urban Environments [article]

Cheng Huang, University Of Calgary, Kyle P. G. O'Keefe
2021
Global Navigation Satellite System (GNSS) positioning is commonly used for land vehicle navigation.  ...  Thus, the development of an alternative, accurate, inexpensive, and self-contained land vehicle navigation systems to bridge the GNSS gaps is significant for land vehicle navigation systems.  ...  ORB-SLAM is considered to be the most complete feature-based V-SLAM method.  ... 
doi:10.11575/prism/38573 fatcat:xsro75cxmnb6di7yce2ysegofe

Table of contents

2019 2019 Chinese Control Conference (CCC)   unpublished
WANG Zhanxiu, LIU Tengfei 6142 Corrected Gradient Methods for Distributed Optimization . . . .  ...  GUO Yanbing, MIAO Ling-juan, Directions Based Adaptability Analysis Method for Gravity-aided Navigation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ... 
doi:10.23919/chicc.2019.8866607 fatcat:bkwxxogrqvcmfpmqiek3xgnuoe

Table of Contents

2021 2021 40th Chinese Control Conference (CCC)   unpublished
SUN Hongchun, ZHANG Zihan 2908 Fuzzy-Logic Adapted for LMS Algorithm Based on Q-Gradient . . . . . . . . . . . . . .  ...  ZHOU Ning, LI Li, CHEN Riqing, WANG Qiping, LU Jiyong 3456 Initial Alignment Method for Rotating Strapdown Inertial Navigation System Based on Fuzzy Adaptive Kalman Filter . . . .  ... 
doi:10.23919/ccc52363.2021.9550117 fatcat:55y7a2gagfhtpc6llmfvl7gqpm

Visual navigation for mobile robots using the Bag-of-Words algorithm [article]

Tom Botterill, University Of Canterbury
2011
Robust long-term positioning for autonomous mobile robots is essential for many applications.  ...  Successful SLAM schemes have been demonstrated which accurately map tracks of tens of kilometres, however these schemes rely on expensive sensors such as laser scanners and inertial measurement units.  ...  Thanks go to Jonathan Klippenstein for providing this data.  ... 
doi:10.26021/3434 fatcat:3dtolrdcefhpldz7jlu5t6bpzi
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