Positioning in GPS-denied Environments

Whereas GPS is a de facto positioning solution for outdoor environments, it does not work well indoors or underground. We adopt two distinct approaches to solving the localisation problem in GPS-denied environments: infrastructure-based and infrastructure-free solutions. Our algorithms range from traditional geometry-based algorithms to deep learning approaches, and are applied to localising people, animals, robots and assets. We are particularly interested in positioning systems that combine multiple sensor modalities, including visual, inertial, radio and magnetic data.

Selected Publications

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• DeepTIO: A Deep Thermal−Inertial Odometry with Visual Hallucination

  M.R.U. Saputra P.P.B. de Gusmao C.X. Lu Y. Almalioglu S. Rosa C. Chen J. Wahlstrom W. Wang A. Markham and N. Trigoni

  In IEEE Robotics and Automation Letters (RAL) + IEEE ICRA. 2020.

  Details about DeepTIO: A Deep Thermal−Inertial Odometry with Visual Hallucination | BibTeX data for DeepTIO: A Deep Thermal−Inertial Odometry with Visual Hallucination | Download  (pdf) of DeepTIO: A Deep Thermal−Inertial Odometry with Visual Hallucination

• Learning Monocular Visual Odometry through Geometry−Aware Curriculum Learning

  Muhamad Risqi U. Saputra Pedro P. B. de Gusmao Sen Wang Andrew Markham and Niki Trigoni

  In IEEE International Conference on Robotics and Automation (ICRA). 2019.

  Details about Learning Monocular Visual Odometry through Geometry−Aware Curriculum Learning | BibTeX data for Learning Monocular Visual Odometry through Geometry−Aware Curriculum Learning | Download  (pdf) of Learning Monocular Visual Odometry through Geometry−Aware Curriculum Learning

• Visual SLAM and Structure from Motion in Dynamic Environments: A Survey

  M. R. U. Saputra; A. Markham; and N. Trigoni

  In ACM Computing Surveys (CSUR) 51 (2)‚ 37. 2018.

  Details about Visual SLAM and Structure from Motion in Dynamic Environments: A Survey | BibTeX data for Visual SLAM and Structure from Motion in Dynamic Environments: A Survey | Download  (pdf) of Visual SLAM and Structure from Motion in Dynamic Environments: A Survey