Mapping and accurate localization via sensor fusion with deep learning

We are working on achieving accurate 3D mapping and positioning using data fusion from 3D lidars, RGB-D cameras, inertial sensors, GNSS sensors and wheel odometry.

Autonomous robots or small vehicles that will operate in dense urban areas need accurate positioning algorithms to be able to locate themselves in complex and dynamic environments. We have been developing algorithms to increase the accuracy of self-localization based on local sensor data and a given map of the environment. We take into account the possibility of the maps being corrupted in some areas and therefore preprocessing is needed. The images below correspond to the algorithm we have developed foe the JDD Digital Globalization Challenge 2019, on “Multi-sensor fusion localization for autonomous vehicles”.

Publications

[1] Jorge Peña Queralta, Tuan Nguyen Gia, Hannu Tenhunen and Tomi Westerlund, "Collaborative Mapping with IoE-based Heterogeneous Vehicles for Enhanced Situational Awareness", IEEE Sensors Applications Symposium 2019 (2019) (View) (Download) (Researchgate)

[2] Jorge Peña Queralta, Cassandra McCord, Tuan Nguyen Gia, Hannu Tenhunen and Tomi Westerlund, "Communication-free and Index-free Distributed Formation Control Algorithm for Multi-robot Systems", Procedia Computer Science (2019) (View) (Download) (Researchgate)

[3] V. K. Sarker, J. Peña Queralta, T. N. Gia, H. Tenhunen and T. Westerlund, "Offloading SLAM for Indoor Mobile Robots with Edge-Fog-Cloud Computing", International Conference on Advances in Science, Engineering and Robotics Technology (2019) (View) (Download) (Researchgate)

[4] Cassandra McCord, Jorge Peña Queralta, Tuan Nguyen Gia and Tomi Westerlund, "Distributed Progressive Formation Control for Multi-Agent Systems: 2D and 3D deployment of UAVs in ROS/Gazebo with RotorS", European Conference on Mobile Robots (ECMR) (2019) (View) (Download)

[5] Li Qingqing, Jorge Peña Queralta, Tuan Nguyen Gia, Zhuo Zou, Hannu Tenhunen and Tomi Westerlund, "Detecting Water Reflection Symmetries in Point Clouds for Camera Position Calibration in Unmanned Surface Vehicles", The 19th International Symposium on Communications and Information Technologies (ISCIT) (2019) (View) (Download) (Researchgate)

[6] Jorge Peña Queralta, Li Qingqing, Tuan Nguyen Gia, Zhuo Zou, Hannu Tenhunen and Tomi Westerlund, "Distributed Progressive Formation Control with One-Way Communication for Multi-Agent Systems", IEEE Symposium Series on Computational Intelligence (2019) (View) (Download) (Researchgate)

[7] L. Qingqing, J. Peña Queralta, T. N. Gia, Z. Zou, T. Westerlund, "Multi Sensor Fusion for Navigation and Mapping in Autonomous Vehicles: Accurate Localization in Urban Environments", Unmanned Systems (2020) (View) (Download) (Researchgate)

[8] Li Qingqing, Fu Yuhong, Jorge Pena Queralta, Tuan Nguyen Gia, Hannu Tenhunen, Zhou Zou and Tomi Westerlund, "Edge Computing for Mobile Robots:Multi-Robot Feature-Based Lidar Odometry with FPGAs", The 12th International Conference on Mobile Computing and Ubiquitous Networking (2019) (View) (Download) (Researchgate)

[9] Li Qingqing, Jorge Pena Queralta, Tuan Nguyen Gia, Hannu Tenhunen, Zhou Zou and Tomi Westerlund, "Visual Odometry Offloading in Internet of Vehicles with Compression at the Edge of the Network", The 12th International Conference on Mobile Computing and Ubiquitous Networking (2019) (View) (Download) (Researchgate)

[10] Jorge Peña Queralta, Li Qingqing, Zhuo Zou, and Tomi Westerlund, "Enhancing Autonomy with Blockchain and Multi-Acess Edge Computing in Distributed Robotic Systems", The Fifth International Conference on Fog and Mobile Edge Computing (FMEC 2020) (2020) (View) (Download)

[11] Jorge Peña Queralta, Carmen Martínez Almansa, Fabrizio Schiano, Dario Floreano, Tomi Westerlund, "UWB-based System for UAV Localization in GNSS-Denied Environments: Characterization and Dataset", Preprint (2020) (View) (Download)

[12] Anum Nawaz, Tuan Nguyen Gia, Jorge Pena Queralta and Tomi Westerlund, "Edge AI and Blockchain for Privacy-Critical and Data-Sensitive Applications", Twelfth International Conference on Mobile Computing and Ubiquitous Network (ICMU) (2019) (View) (Download) (Researchgate)