Iterative closest point (ICP) algorithms are widely used in the literature for estimation of relative transformations using 3-D light detection and ranging (LiDAR) clouds. This class proves to be efficient when data share sufficient overlapping parts a good initial guess is provided. However, large motions mutual occlusion objects real-road scenarios hinder traditional optimization-based ICP fr...

The demand for seamless positioning has been significantly high. The methods of providing continuous indoor/outdoor positions seamlessly and the algorithms for smoothly transferring the estimation of positions from multiple positioning systems have attracted a great interest in the Location Based Services (LBS) research community. Most seamless positioning techniques are based on integrated met...

Detecting obstacles and creating a map of surroundings are essential problems for navigation system of unmanned vehicles. Perception systems for autonomous navigation of unmanned ground vehicles (UGVs) must detect all manner of potential navigation hazards. Until quite recently, UGV perception research had focused largely on perception of 3-D terrain geometry with range sensors, perception of r...

Localization of a vehicle is a key component for driving assistance or autonomous navigation. In this work, we propose a visual positioning system (VPS) for vehicle or mobile robot navigation. Different from general landmark-based or model-based approaches, which rely on some predefined known landmarks or a priori information about the environment, no assumptions on the prior knowledge of the s...

The increasing interest in autonomous marine systems and related applications has motivated, among others, the development of systems and algorithms for the dynamic positioning of underactuated marine vehicles (ships, surface vessels, underwater vehicles) under the influence of unknown environmental disturbances. In this paper we present a state feedback control solution for the navigation and ...

Various mobile positioning techniques are being used in different environments for location based services (LBS). In this paper, for position fixing a new method known as grid based field strength determination is proposed. Spatially scattered measured signal strength data is encoded into structured grid data using planar fit algorithm in forward estimation. In reverse estimation, a look up tab...