Related papers: VRAC: Simulation Results #1
Locating each node in a wireless sensor network is essential for starting the monitoring job and sending information about the area. One method that has been used in hard and inaccessible environments is randomly scattering each node in the…
Existing visual localization methods are typically either 2D image-based, which are easy to build and maintain but limited in effective geometric reasoning, or 3D structure-based, which achieve high accuracy but require a centralized…
In the past decade, significant research has been carried out for realizing intelligent network routing using advertisement, position and near-optimum node selection schemes. In this paper, a grade-based two-level node selection method…
Network planning is a fundamental task in wireless communications, primarily focused on guaranteeing adequate coverage for every network device. In this context, the quality of any planning effort strongly depends on the channel model…
Simultaneous localization and mapping (SLAM) are essential in numerous robotics applications, such as autonomous navigation. Traditional SLAM approaches infer the metric state of the robot along with a metric map of the environment. While…
Visual navigation by mobile robots is classically tackled through SLAM plus optimal planning, and more recently through end-to-end training of policies implemented as deep networks. While the former are often limited to waypoint planning,…
LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…
The field of visual localization has been researched for several decades and has meanwhile found many practical applications. Despite the strong progress in this field, there are still challenging situations in which established methods…
We investigate algorithms to find short paths in spatial networks with stochastic edge weights. Our formulation of the problem of finding short paths differs from traditional formulations because we specifically do not make two of the usual…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…
Multi-robot global localization (MR-GL) with unknown initial positions in a large scale environment is a challenging task. The key point is the data association between different robots' viewpoints. It also makes traditional…
The use of wireless signals for purposes of localization enables a host of applications relating to the determination and verification of the positions of network participants, ranging from radar to satellite navigation. Consequently, it…
Localization is a fundamental task for sensor networks. Traditional network construction approaches allow to obtain localized networks requiring the nodes to be at least tri-connected (in 2D), i.e., the communication graph needs to be…
We consider a registration-based approach for localizing sensor networks from range measurements. This is based on the assumption that one can find overlapping cliques spanning the network. That is, for each sensor, one can identify…
Analysis and simulation of beaconless geo-routing protocols have been traditionally conducted assuming equal communication ranges for the data and control packets. In reality, this is not true since the communication range is actually…
Adding location to the available information enables a new category of applications. With the constrained battery on cell phones, energy-efficient localization becomes an important challenge. In this paper we introduce a low-energy…
In this work, we present LocGAN, our localization approach based on a geo-referenced aerial imagery and LiDAR grid maps. Currently, most self-localization approaches relate the current sensor observations to a map generated from previously…
Web-based services often run randomized experiments to improve their products. A popular way to run these experiments is to use geographical regions as units of experimentation, since this does not require tracking of individual users or…
Mapping and localization are crucial problems in robotics and autonomous driving. Recent advances in 3D Gaussian Splatting (3DGS) have enabled precise 3D mapping and scene understanding by rendering photo-realistic images. However, existing…
The emulation of wireless nodes spatial position is a practice used by deployment engineers and network planners to analyze the characteristics of a network. In particular, nodes geolocation will directly impact factors such as…