Most mobile robots use a combination of absolute and relative sensing techniques for position estimation. Relative positioning techniques are generally known as dead-reckoning. Many systems use odometry as their only deadreckoning means. However, in recent years fiber optic gyroscopes have become more affordable and are being used on many platforms to supplement odometry, especially in indoor a...

Guidance of aerial systems is generally based upon inertial navigation sensors and Global Positioning System. Inertial navigation sensors are assumed accurate and reliable for short duration of flights. Error of inertial navigation sensors accumulates and ultimately drifts from actual position increases with flight duration. On the other hand, Global Positioning System (GPS) is independent of f...

In this work, a new combined vision technique (CVT) is proposed, comprehensively developed, and experimentally tested for stable, precise unmanned micro aerial vehicle (MAV) pose estimation. The CVT combines two measurement methods (multiand mono-view) based on different constraint conditions. These constraints are considered simultaneously by the particle filter framework to improve the accura...

The dynamic behavior of underwater robotic vehicles can be greatly influenced by the nonlinear dynamics of the vehicle thrusters. In this way, the implementation of a good control strategy for the thruster subsystem is essential for the accurate control of the entire robotic vehicle. It was already shown in the literature that without compensation for thruster dynamics the closed-loop positioni...

Many onboard navigation systems use the Global Positioning System to bound the errors that result from integrating inertial sensors over time. Global Positioning System information, however, is not always accessible since it relies on external satellite signals. To this end, a vision sensor is explored as an alternative for inertial navigation in the context of an Extended Kalman Filter used in...

Accurate vehicle positioning is important not only for in-car navigation systems but is also a requirement for emerging autonomous driving methods. Consumer level GPS are inaccurate in a number of driving environments such as in tunnels or areas where tall buildings cause satellite shadowing. Current vision-based methods typically rely on the integration of multiple sensors or fundamental matri...

Trail-Braking (TB) is a common cornering technique used in rally racing to negotiate tight corners at high speeds. It has been shown that TB can be generated as the solution to the minimum time cornering problem, subject to fixed final positioning of the vehicle after the corner, using non-linear programming (NLP). In this work we formulate the optimization problem relaxing the final positionin...

The automated inspection is desired to detect the vehicle in large parking space, which is difficult to survey by fixed the vision-sensor. We purposed mobile robot surveillance in parking space for parking lot inspection. To obtain the parking lot information, vision sensor is wide useful for parking lot state checking which measurement is difficult to obtain the positioning of vehicle while ac...

This paper considers two different methods of using a dynamic vehicle model in order to aid pose estimates provided by an Inertial Navigation System (INS) for a Un-manned Aerial Vehicle (UAV). We consider low-cost inertial sensors in which errors from sensor noise, bias and scale-factor errors cause a significant growth in pose estimate errors when the navigation system is un-aided by external ...