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Interval-Based Visual-LiDAR Sensor Fusion

Since cameras and Light Detection and Ranging (LiDAR) sensors provide complementary information about the environment, it is beneficial for mobile robot localization to fuse their information by assigning distances measured by the LiDAR to visual …

Odometry under Interval Uncertainty: Towards Optimal Algorithms, with Potential Application to Self-Driving Cars and Mobile Robots

In many practical applications ranging from self-driving cars to industrial application of mobile robots, it is important to take interval uncertainty into account when performing odometry, i.e., when estimating how our position and orientation …

Efficient Algorithms for Synchronizing Localization Sensors Under Interval Uncertainty

In this paper, we show that a practical need for synchronization of localization sensors leads to an interval-uncertainty problem. In principle, this problem can be solved by using the general linear programming algorithms, but this would take a long …

Integrity and Collaboration in Dynamic Sensor Networks

Global Navigation Satellite Systems (GNSS) deliver absolute position and velocity, as well as time information (P, V, T). However, in urban areas, the GNSS navigation performance is restricted due to signal obstructions and multipath. This is …

Finding Timestamp Offsets for a Multi-Sensor System Using Sensor Observations

Multi-sensor systems are widely used for robotics applications. While additional sensors can increase the accuracy and robustness of the solution, it is inevitable to synchronize them in order to rely on the results. For our multi-sensor system …