In this work, we present a tightly-coupled fusion scheme of a monocular camera, a 6-DoF
IMU, and a single unknown Ultra-wideband (UWB) anchor to achieve accurate and drift …

In recent years, onboard self-localization (OSL) methods based on cameras or lidar have
achieved many significant progresses. However, some issues such as estimation drift and …

Intelligent unmanned systems have important applications, such as pesticide-spraying in
agriculture, robot-based warehouse management systems, and missile-firing drones. The …

Monocular cameras coupled with inertial measurements generally give high performance
visual inertial odometry. However, drift can be significant with long trajectories, especially …

In this letter we investigate a tightly coupled Lidar-Inertia Odometry and Mapping (LIOM)
scheme, with the capability to incorporate multiple lidars with complementary field of view …

UWB and IMU fusion positioning methods have been widely concerned for its high accuracy
and robustness in GNSS-denied environment. However, most of the existing methods are …

In recent years, thanks to the continuously reduced cost and weight of 3D lidar, the
applications of this type of sensor in the community have become increasingly popular …

The use of mobile robots in substations improves maintenance efficiency and ensures the
personal safety of staff working at substations, which is a trend in the development of …

This paper proposes an enhanced tightly-coupled sensor fusion scheme using a monocular
camera and ultra-wideband (UWB) ranging sensors for the task of simultaneous localization …

This paper presents an efficient and accurate range-aided visual-inertial odometry (RVIO)
system for the global positioning system denied environment. In particular, the ultra …