This paper presents a robust method to solve the two coupled problems: ground layer detection and vehicle egomotion estimation, which appear in visual navigation. We virtually rotate the camera to the downward-looking pose in order to exploit the fact that the vehicle motion is roughly constrained to be planar motion on the ground. This camera geometry transformation, together with planar motio...

the evaluation and control of the trains induced vibrations needs even more attention in the case of underground tracks which passes near to monuments and historical sites. the rail corrugations which occur due to the wheels’ impulse loads during the operation period of underground railway tracks, usually amplify the ground borne noise and vibration. in the current study, the mentioned phenomen...

This paper presents design considerations of an Extended Kalman Filter (EKF) based Wireless Sensor Network (WSN) aided indoor localization for unmanned vehicles (UV). In this approach, we integrate Received Signal Strength Indicator (RSSI) measurements into an EKF based localization system. The localization system primarily uses measurements from a Laser Range Finder (LRF) and keeps track of th...

Aerial and ground vehicles working in corporation are crucial assets for several real world applications, ranging from search and rescue to logistics. In this paper, we consider a cooperative landing task problem, where an unmanned aerial vehicle (UAV) must land on an unmanned ground vehicle (UGV) while such ground vehicle is moving in the environment to execute its own mission. To solve this c...

Increasingly complex automated driving functions, specifically those associated with free space detection (FSD), are delegated to convolutional neural networks (CNNs). If the dataset used train network lacks diversity, modality, or sufficient quantities, driver policy that controls vehicle may induce safety risks. Although most autonomous ground vehicles (AGVs) perform well in structured surrou...