Accurate indoor localization is a crucial enabling technology for many robotics applications,
from warehouse management to monitoring tasks. Ultra-wideband (UWB) time difference of …

In recent years, Visual-Inertial Odometry (VIO) has achieved many significant progresses.
However, VIO meth-ods suffer from localization drift over long trajectories. In this paper, we …

We propose a fixed-lag smoother-based sensor fusion architecture to leverage the
complementary benefits of range-based sensors and visual-inertial odometry (VIO) for …

In recent years, the visual-inertial-ranging (VIR) state estimator with a position-unknown
UWB network has become popular. However, most existing VIR methods leverage …

Time-of-flight (ToF) ranging using ultra-wideband (UWB) signals is of interest in many
localization applications. However, non-line-of-sight (NLoS) and multipath radio propagation …

Ultra-wideband (UWB) time difference of arrival (TDOA)-based localization has emerged as
a low-cost and scalable indoor positioning solution. However, in cluttered environments, the …

Cadastral boundary survey is an important section of immovable property registration which
is heavily relied on manual operation and time-consuming. To reduce the work load of land …

This dissertation focuses on the development of robust and reliable navigation algorithms for
mobile autonomous systems. This work is applicable to inertial navigation systems (INS) …

This work presents the development of a tracking system for a three-wheeled
omnidirectional mobile robot. This kind of robot can perform rotation and translation in any …