Related papers: VRAC: Theory #1
While UWB-based methods can achieve high localization accuracy in small-scale areas, their accuracy and reliability are significantly challenged in large-scale environments. In this paper, we propose a learning-based framework named ULOC…
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…
Data clustering, the task of grouping observations according to their similarity, is a key component of unsupervised learning -- with real world applications in diverse fields such as biology, medicine, and social science. Often in these…
A simple method to generate a two-dimensional binary grid pattern, which allows for absolute and accurate self-location in a finite planar region, is proposed. The pattern encodes position information in a local way so that reading a small…
Location information is a fundamental requirement for unmanned aerial vehicles (UAVs) and other wireless sensor networks (WSNs). However, accurately and efficiently localizing sensor nodes with diverse functionalities remains a significant…
Establishing bounds on the accuracy achievable by localization techniques represents a fundamental technical issue. Bounds on localization accuracy have been derived for cases in which the position of an agent is estimated on the basis of a…
Exploration systems are critical for enhancing the autonomy of robots. Due to the unpredictability of the future planning space, existing methods either adopt an inefficient greedy strategy or require a lot of resources to obtain a global…
Distance measuring is a very important task in digital geometry and digital image processing. Due to our natural approach to geometry we think of the set of points that are equally far from a given point as a Euclidean circle. Using the…
Publicly available satellite imagery can be an ubiquitous, cheap, and powerful tool for vehicle localisation when a prior sensor map is unavailable. However, satellite images are not directly comparable to data from ground range sensors…
Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…
Graph rigidity theory is an important tool for examining the solvability of sensor network localization (SNL) problems, and ensuring global convergence of localization algorithms. Along this direction, diverse measurements such as signed…
Nodes localization in Wireless Sensor Networks (WSN) has arisen as a very challenging problem in the research community. Most of the applications for WSN are not useful without a priori known nodes positions. One solution to the problem is…
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,…
Traditionally, Euclidean geometry is treated by scientists as a priori and objective. However, when we take the position of an agent, the problem of selecting a best route should also factor in the abilities of the agent, its embodiment and…
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…
We develop a new method for visualizing and refining the invariances of learned representations. Specifically, we test for a general form of invariance, linearization, in which the action of a transformation is confined to a low-dimensional…
LiDAR-based place recognition plays a crucial role in Simultaneous Localization and Mapping (SLAM) and LiDAR localization. Despite the emergence of various deep learning-based and hand-crafting-based methods, rotation-induced place…
This article first addresses applicability of Euclidean models to the domain of Internet routing. Those models are found (limitedly) applicable. Then a simplistic model of routing is constructed for Euclidean plane densely covered with…
Accurate localization is a foundational capacity, required for autonomous vehicles to accomplish other tasks such as navigation or path planning. It is a common practice for vehicles to use GPS to acquire location information. However, the…
Inspired by research in psychology, we introduce a behavioral approach for visual navigation using topological maps. Our goal is to enable a robot to navigate from one location to another, relying only on its visual input and the…