278 citations · 413 across the 16 of their papers we have counts for
12 papers · 1 filter
CNN-Based Camera Pose Estimation and Localisation of Scan Images for Aircraft Visual Inspection
Xueyan Oh, Leonard Loh, Shaohui Foong +5
General Visual Inspection is a manual inspection process regularly used to detect and localise obvious damage on the exterior of commercial aircraft. There has been increasing dema…
UWB Radar SLAM: an Anchorless Approach in Vision Denied Indoor Environments
H. A. G. C. Premachandra, Ran Liu, Chau Yuen +1
LiDAR and cameras are frequently used as sensors for simultaneous localization and mapping (SLAM). However, these sensors are prone to failure under low visibility (e.g. smoke) or…
Marker-Based Localisation System Using an Active PTZ Camera and CNN-Based Ellipse Detection
Xueyan Oh, Ryan Lim, Shaohui Foong +1
Localisation in GPS-denied environments is challenging and many existing solutions have infrastructural and on-site calibration requirements. This paper tackles these challenges by…
Monocular UAV Localisation with Deep Learning and Uncertainty Propagation
Xueyan Oh, Ryan Lim, Leonard Loh +3
In this paper, we propose a ground-based monocular UAV localisation system that detects and localises an LED marker attached to the underside of a UAV. Our system removes the need…
Initialisation of Autonomous Aircraft Visual Inspection Systems via CNN-Based Camera Pose Estimation
Xueyan Oh, Leonard Loh, Shaohui Foong +5
General Visual Inspection is a manual inspection process regularly used to detect and localise obvious damage on the exterior of commercial aircraft. There has been increasing dema…
Exploiting Radio Fingerprints for Simultaneous Localization and Mapping
Ran Liu, Billy Pik Lik Lau, Khairuldanial Ismail +6
Simultaneous localization and mapping (SLAM) is paramount for unmanned systems to achieve self-localization and navigation. It is challenging to perform SLAM in large environments,…
Multi-AGV's Temporal Memory-based RRT Exploration in Unknown Environment
Billy Pik Lik Lau, Brandon Jin Yang Ong, Leonard Kin Yung Loh +4
With the increasing need for multi-robot for exploring the unknown region in a challenging environment, efficient collaborative exploration strategies are needed for achieving such…
Distributed Ranging SLAM for Multiple Robots with Ultra-WideBand and Odometry Measurements
Ran Liu, Zhongyuan Deng, Zhiqiang Cao +6
To accomplish task efficiently in a multiple robots system, a problem that has to be addressed is Simultaneous Localization and Mapping (SLAM). LiDAR (Light Detection and Ranging)…
Efficient WiFi LiDAR SLAM for Autonomous Robots in Large Environments
Khairuldanial Ismail, Ran Liu, Zhenghong Qin +5
Autonomous robots operating in indoor and GPS denied environments can use LiDAR for SLAM instead. However, LiDARs do not perform well in geometrically-degraded environments, due to…
Collaborative Radio SLAM for Multiple Robots based on WiFi Fingerprint Similarity
Ran Liu, Zhenghong Qin, Hua Zhang +6
Simultaneous Localization and Mapping (SLAM) enables autonomous robots to navigate and execute their tasks through unknown environments. However, performing SLAM in large environme…
Relative Localization of Mobile Robots with Multiple Ultra-WideBand Ranging Measurements
Zhiqiang Cao, Ran Liu, Chau Yuen +4
Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency…
Crowd-sensing Simultaneous Localization and Radio Fingerprint Mapping based on Probabilistic Similarity Models
Ran Liu, Sumudu Hasala Marakkalage, Madhushanka Padmal +4
Simultaneous localization and mapping (SLAM) has been richly researched in past years particularly with regard to range-based or visual-based sensors. Instead of deploying dedicate…