464 citations
- Graz University of TechnologyAT18 papers
- Stellenbosch UniversityZA18 papers
- Lakeside LabsAT11 papers
- TU WienAT11 papers
- Max Planck Institute for Dynamics of Complex Technical SystemsDE8 papers
- Politecnico di MilanoIT8 papers
- TU Dortmund UniversityDE8 papers
- University of ViennaAT8 papers
- Technical University of MunichDE7 papers
- Universität InnsbruckAT7 papers
- University of SalzburgAT7 papers
- University of UdineIT7 papers
15 papers · 1 filter
Swarming Without an Anchor (SWA): Robot Swarms Adapt Better to Localization Dropouts Then a Single Robot
Jiri Horyna, Roland Jung, Stephan Weiss +2
In this paper, we present the Swarming Without an Anchor (SWA) approach to state estimation in swarms of Unmanned Aerial Vehicles (UAVs) experiencing ego-localization dropout, wher…
Consistent Pose Estimation of Unmanned Ground Vehicles through Terrain-Aided Multi-Sensor Fusion on Geometric Manifolds
Alexander Raab, Stephan Weiss, Alessandro Fornasier +2
Aiming to enhance the consistency and thus long-term accuracy of Extended Kalman Filters for terrestrial vehicle localization, this paper introduces the Manifold Error State Extend…
Real-Time Initialization of Unknown Anchors for UWB-aided Navigation
Giulio Delama, Igor Borowski, Roland Jung +1
This paper presents a framework for the real-time initialization of unknown Ultra-Wideband (UWB) anchors in UWB-aided navigation systems. The method is designed for localization so…
Equivariant IMU Preintegration with Biases: a Galilean Group Approach
Giulio Delama, Alessandro Fornasier, Robert Mahony +1
This letter proposes a new approach for Inertial Measurement Unit (IMU) preintegration, a fundamental building block that can be leveraged in different optimization-based Inertial…
AIVIO: Closed-loop, Object-relative Navigation of UAVs with AI-aided Visual Inertial Odometry
Thomas Jantos, Martin Scheiber, Christian Brommer +3
Object-relative mobile robot navigation is essential for a variety of tasks, e.g. autonomous critical infrastructure inspection, but requires the capability to extract semantic inf…
UVIO: An UWB-Aided Visual-Inertial Odometry Framework with Bias-Compensated Anchors Initialization
Giulio Delama, Farhad Shamsfakhr, Stephan Weiss +2
This paper introduces UVIO, a multi-sensor framework that leverages Ultra Wide Band (UWB) technology and Visual-Inertial Odometry (VIO) to provide robust and low-drift localization…