10 accepted papers
This paper presents a tightly coupled Rao-Blackwellized particle filter (TC-RBPF) for global navigation satellite system (GNSS) positioning that eliminates the need for carrier-phase integer ambiguity resolution. The previously proposed loosely coupled RBPF (LC-RBPF) approach uses carrier-phase resi
This paper presents a tightly coupled Rao-Blackwellized particle filter (TC-RBPF) for global navigation satellite system (GNSS) positioning that eliminates the need for carrier-phase integer ambiguity resolution. The previously proposed loosely coupled RBPF (LC-RBPF) approach uses carrier-phase resi…
A global navigation satellite system (GNSS) is a sensor that can acquire 3D position and velocity in an earth-fixed coordinate system and is widely used for outdoor position estimation of robots and vehicles. Various GNSS/inertial measurement unit (IMU) integration methods have been proposed to impr
This paper presents an efficient method for updating particles in a particle filter (PF) to address the position estimation problem when dealing with sharp-peaked likelihood functions derived from multiple observations. Sharp-peaked likelihood functions commonly arise from millimeter-accurate distan…
This letter proposes a highly accurate trajectory estimation method for outdoor mobile robots using global navigation satellite system (GNSS) time differences of carrier phase (TDCP) measurements. By using GNSS TDCP, the relative 3D position can be estimated with millimeter precision. However, when
A large-scale dump truck that automatically transports earth and sand in cooperation with a human-operated backhoe is of interest to the construction industry. A human-operated dump truck generally drives slightly past the desired loading position and then backs up to it for loading the sediment. Th…
Semantic maps are an important tool to provide robots with high-level knowledge about the environment, enabling them to better react to and interact with their surroundings. However, as a single measurement of the environment is solely a snapshot of a specific time, it does not necessarily reflect t
Backhoe loads sediment onto the bed of dump trucks during earthmoving work. The prediction of backhoe loading time is essential for ensuring safe cooperation between the backhoe and dump trucks. However, it is difficult to predict the instant at which the backhoe is ready to load sediment, because o…
A pose-graph-based optimization technique is widely used to estimate robot poses using various sensor measurements from devices such as laser scanners and cameras. The global navigation satellite system (GNSS) has recently been used to estimate the absolute 3D position of outdoor mobile robots. Howe
Small-sized unmanned aerial vehicles (UAVs) have been widely investigated for use in a variety of applications such as remote sensing and aerial surveying. Direct three-dimensional (3D) mapping using a small-sized UAV equipped with a laser scanner is required for numerous remote sensing applications…