UWB与协同定位
- UWB
- Ultra-Wideband Aided Fast Localization and Mapping System
- 概要
- uwb权值设计
- 平滑项权值设计
- Integrated UWB-Vision Approach for Autonomous Docking of UAVs in GPS-denied Environments
- 概要
- 加定高雷达的改变
- Robust Target-relative Localization with Ultra-Wideband Ranging and Communication
- 概要
- Loosely-Coupled Ultra-wideband-Aided Scale Correction for Monocular Visual Odometry
- 概要
- Tightly-Coupled Single-Anchor Ultra-wideband-Aided Monocular Visual Odometry System
- Graph Optimization Approach to Range-based Localization
- Relative Localization for Quadcopters using Ultra-wideband Sensors
- VIRAL-Fusion: A Visual-Inertial-Ranging-Lidar Sensor Fusion Approach
- LIRO: Tightly Coupled Lidar-Inertia-Ranging Odometry
- Ranging‑based adaptive navigation for autonomous micro aerial vehicles
- Decentralized Visual-Inertial-UWB Fusion for Relative State Estimation of Aerial Swarm
- Distributed Mapping with Privacy and Communication Constraints: Lightweight Algorithms and Object-based Models
- VIO-UWB-Based Collaborative Localization and Dense Scene Reconstruction within Heterogeneous Multi-Robot Systems
- Multi-modal Mapping and Localization of Unmanned Aerial Robots based on Ultra-Wideband and RGB-D sensing
- Long-Term Aerial Robot Localization based on Visual Odometry and Radio-based Ranging
- ATLAS FaST: Fast and Simple Scheduled TDOA for Reliable Ultra-Wideband Localization
- Cooperative Relative Positioning of Mobile Users by Fusing IMU Inertial and UWB Ranging Information
- Range-based Cooperative Localization with Single Landmark
- GraphTinker Outlier Rejection and Inlier Injection for Pose Graph SLAM
- Anchor Self-Localization Algorithm Based on UWB Ranging and Inertial Measurements
- Sensor Fusion for Indoor Navigation and Tracking of Automated Guided Vehicles
- 协同定位
- CCM-SLAM: Robust and efficient centralized collaborative monocular simultaneous localization and mapping for robotic teams
- Multi-robot Coordination with Agent-Server Architecture for Autonomous Navigation in Partially Unknown Environments
- VIR-SLAM: Visual, Inertial, and Ranging SLAM for single and multi-robot systems
- Self-Calibrating Multi-Sensor Fusion with Probabilistic Measurement Validation for Seamless Sensor Switching on a UAV
- Visual-UWB Navigation System for Unknown Environments
- Recovering Relative Orientation and Scale from Visual Odometry and Ranging Radio Measurements
- DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams
- An Online Multi-Robot SLAM System for 3D LiDARs
- Multi-UAV Collaborative Monocular SLAM
- Voxgraph: Globally Consistent, Volumetric Mapping using Signed Distance Function Submaps
- Collaborative Localization for Multiple Monocular Vision-Based MAVs
- Towards Globally Consistent Visual-Inertial Collaborative SLAM
- Ultra-Wideband and Odometry-Based Cooperative Relative Localization With Application to Multi-UAV Formation Control
- Self-Calibrating Ultra-Wideband Network Supporting Multi-Robot Localization
UWB
Ultra-Wideband Aided Fast Localization and Mapping System
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) September 24–28, 2017, Vancouver, BC, Canada
Chen Wang, Handuo Zhang, Thien-Minh Nguyen, and Lihua Xie
概要
uwb、视觉松耦合
uwb权值设计
平滑项权值设计
Integrated UWB-Vision Approach for Autonomous Docking of UAVs in GPS-denied Environments
2019 International Conference on Robotics and Automation (ICRA) Palais des congres de Montreal, Montreal, Canada, May 20-24, 2019
Thien-Minh Nguyen*, Thien Hoang Nguyen*, Muqing Cao*, Zhirong Qiu*, Lihua Xie?, Fellow, IEEE
概要
控制无人机降落在小车上，小车有四个锚点，无人机有一个，在无人机上加uwb模块数量有用吗？目前可以实现单架机上搭载单个uwb模块，地面放置三个uwb的工作，在无人机上增加uwb模块会增加工作量并且不能通过简单复制代码进行扩展。
加定高雷达的改变
为什么搭载在ugv上的锚点需要有高度变化呢
Robust Target-relative Localization with Ultra-Wideband Ranging and Communication
Thien-Minh Nguyen, Abdul Hanif Zaini, Chen Wang, Kexin Guo, Lihua Xie
概要
没跟视觉融合
Loosely-Coupled Ultra-wideband-Aided Scale Correction for Monocular Visual Odometry
概要
单目，不需要提前知道锚点位置，同时恢复尺度和锚点位置信息
