11 accepted papers
Visual localization is crucial for autonomous unmanned aerial vehicles (UAVs), especially during aggressive rotational maneuvers. Existing methods-whether handcrafted-based or learning-based-often suffer from limited rotation robustness or high computational costs, hindering their use in real-time a
The multi-drone waypoint traversal has significant potential for aerial robot swarms in various applications. However, it still faces challenges including low time efficiency, susceptibility to local minima, poor resilience to external disturbances, high computational complexity, and high communicat
Whole-body planning is critical for enabling robots to navigate effectively in complex and dense environments. Traditional obstacle-based planning methods methods often restrict the representation of both robots and obstacles to simple convex polyhedra. This limitation may fail to adequately address
Decentralized cooperative localization poses significant challenges in managing inter-robot correlations, especially in environments with limited communication capacity and unreliable network connectivity. In this letter, we propose a communication-efficient decentralized consistent cooperative loca
This letter investigates the inconsistency problem caused by the mismatch of observability properties commonly found in multi-robot cooperative localization (CL) and simultaneous localization and mapping (SLAM). To address this issue, we propose a transformation-based approach that introduces a line
This paper presents a novel approach to address the inconsistency problem caused by observability mismatch in visual-inertial navigation systems (VINS). The key idea involves applying a linear time-varying transformation to the error-state within the Error-State Kalman Filter (ESKF). This transforma
17-point algorithm is a popular method in relative pose estimation of multi-cameras. However, the role of overlap in 17-point algorithm remains unexplored. And the relaxed way in solving constrained normal equation leads to sub-optimal results. Both of them influence accuracy of the estimated pose.…
This paper addresses the consistency issue of multi-robot distributed cooperative localization. We introduce a consistent distributed cooperative localization algorithm conducting state estimation in a transformed coordinate. The core idea involves a linear time-varying coordinated transformation to…
Efficient interest point detection and description in images play a crucial role in many tasks such as multi-robot SLAM and collaborative localization. To facilitate fast detection and generate compact descriptions on edge devices, we introduce EdgePoint, a lightweight neural network. We design a ne…
In this paper, we revisit the inconsistency problem of EKF-based cooperative localization (CL) from the perspective of system decomposition. By transforming the linearized system used by the standard EKF into its Kalman observable canonical form, the observable and unobservable components of the sys…
In this paper, we propose a novel mapping-planning framework for autonomous quadrotor navigation. First, a polyhedron-based mapping algorithm is presented to fully exploit the information of the onboard sensor data. Polyhedra are generated to approximate the segmented clusters of occupied voxels. Th…