Related papers: VRAC: Simulation Results #1
Semantic navigation is necessary to deploy mobile robots in uncontrolled environments like our homes, schools, and hospitals. Many learning-based approaches have been proposed in response to the lack of semantic understanding of the…
Visual relocalization, which estimates the 6-degree-of-freedom (6-DoF) camera pose from query images, is fundamental to remote sensing and UAV applications. Existing methods face inherent trade-offs: image-based retrieval and pose…
In this work, we argue that current state-of-the-art methods of aircraft localization such as multilateration are insufficient, in particular for modern crowdsourced air traffic networks with random, unplanned deployment geometry. We…
Maps are a key component in image-based camera localization and visual SLAM systems: they are used to establish geometric constraints between images, correct drift in relative pose estimation, and relocalize cameras after lost tracking. The…
In robot navigation, generalizing quickly to unseen environments is essential. Hierarchical methods inspired by human navigation have been proposed, typically consisting of a high-level landmark proposer and a low-level controller. However,…
The growing complexity of wireless systems has accelerated the move from traditional methods to learning-based solutions. Graph Neural Networks (GNNs) are especially well-suited here, since wireless networks can be naturally represented as…
Global Navigation Satellite Systems typically perform poorly in urban environments, where the likelihood of line-of-sight conditions between devices and satellites is low. Therefore, alternative location methods are required to achieve good…
This paper presents a visual geo-localization system capable of determining the geographic locations of places (buildings and road intersections) from images without relying on GPS data. Our approach integrates three primary methods:…
The stateless, low overhead and distributed nature of the Geographic routing protocols attract a lot of research attentions recently. Since the geographic routing would face void problems, leading to complementary routing such as perimeter…
The inherent limitations in scaling up ground infrastructure for future wireless networks, combined with decreasing operational costs of aerial and space networks, are driving considerable research interest in multisegment ground-air-space…
Determining the position and orientation of a sensor vis-a-vis its surrounding, while simultaneously mapping the environment around that sensor or simultaneous localization and mapping is quickly becoming an important advancement in…
Building on progress in feature representations for image retrieval, image-based localization has seen a surge of research interest. Image-based localization has the advantage of being inexpensive and efficient, often avoiding the use of 3D…
This paper investigates the localization problem of a network in 2-D and 3-D spaces given the positions of anchor nodes in a global frame and inter-node relative measurements in local coordinate frames. It is assumed that the local frames…
We study the network localization problem, i.e., the problem of determining node positions of a wireless sensor network modeled as a unit disk graph. In an arbitrarily deployed network, positions of all nodes of the network may not be…
Accurate and swift localization of the target is crucial in emergencies. However, accurate position data of a target mobile device, typically obtained from global navigation satellite systems (GNSS), cellular networks, or WiFi, may not…
In this paper we study local routing strategies on geometric graphs. Such strategies use geometric properties of the graph like the coordinates of the current and target nodes to route. Specifically, we study routing strategies in the…
Path planning algorithms for unmanned aerial or ground vehicles, in many surveillance applications, rely on Global Positioning System (GPS) information for localization. However, disruption of GPS signals, by intention or otherwise, can…
Recognizing already explored places (a.k.a. place recognition) is a fundamental task in Simultaneous Localization and Mapping (SLAM) to enable robot relocalization and loop closure detection. In topological SLAM the recognition takes place…
This work reports experiences on using radio ranging to position sensors in a grid topology. The implementation is simple, efficient, and could be practically distributed. The paper describes an implementation and experimental result based…
Virtual sensing techniques allow for inferring signals at new unmonitored locations by exploiting spatio-temporal measurements coming from physical sensors at different locations. However, as the sensor coverage becomes sparse due to costs…