Related papers: Simple and Robust Binary Self-Location Patterns
Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…
We consider binary dispatching problem originating from object oriented programming. We want to preprocess a hierarchy of classes and collection of methods so that given a function call in the run-time we are able to retrieve the most…
Many robotics applications require precise pose estimates despite operating in large and changing environments. This can be addressed by visual localization, using a pre-computed 3D model of the surroundings. The pose estimation then…
Place recognition, an algorithm to recognize the re-visited places, plays the role of back-end optimization trigger in a full SLAM system. Many works equipped with deep learning tools, such as MLP, CNN, and transformer, have achieved great…
In this paper, we propose an efficient range free localization scheme for large scale three dimensional wireless sensor networks. Our system environment consists of two type of sensors, randomly deployed static sensors and global…
Binary embedding of high-dimensional data requires long codes to preserve the discriminative power of the input space. Traditional binary coding methods often suffer from very high computation and storage costs in such a scenario. To…
We propose a technique to develop (and localize in) topological maps from light detection and ranging (Lidar) data. Localizing an autonomous vehicle with respect to a reference map in real-time is crucial for its safe operation. Owing to…
Random projection is often used to project higher-dimensional vectors onto a lower-dimensional space, while approximately preserving their pairwise distances. It has emerged as a powerful tool in various data processing tasks and has…
Robust visual localization for urban vehicles remains challenging and unsolved. The limitation of computation efficiency and memory size has made it harder for large-scale applications. Since semantic information serves as a stable and…
Two-dimensional constrained coding is a problem that is much more difficult than its one-dimensional counterpart. Indeed, in two dimensions, obtaining the answers to very natural questions becomes uncomputable. In particular, it is…
We introduce a binary embedding framework, called Proximity Preserving Code (PPC), which learns similarity and dissimilarity between data points to create a compact and affinity-preserving binary code. This code can be used to apply fast…
Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…
The $i$th coordinate of an $(n,k)$ code is said to have locality $r$ and availability $t$ if there exist $t$ disjoint groups, each containing at most $r$ other coordinates that can together recover the value of the $i$th coordinate. This…
Localization in topological maps is essential for image-based navigation using an RGB camera. Localization using only one camera can be challenging in medium-to-large-sized environments because similar-looking images are often observed…
Indoor location identification and navigation need to be as simple, seamless, and ubiquitous as its outdoor GPS-based counterpart is. It would be of great convenience to the mobile user to be able to continue navigating seamlessly as he or…
Localization systems intended for home use by people with mild cognitive impairment should comply with specific requirements. They should provide the users with sub-meter accuracy allowing for analyzing patient's movement trajectory and be…
This paper studies 3-D distributed network localization using mixed types of local relative measurements. Each node holds a local coordinate frame without a common orientation and can only measure one type of information (relative position,…
The two-dimensional layout optimization problem reinforced by the efficient space utilization demand has a wide spectrum of practical applications. Formulating the problem as a nonlinear minimization problem under planar equality and/or…
Multiple lidars are prevalently used on mobile vehicles for rendering a broad view to enhance the performance of localization and perception systems. However, precise calibration of multiple lidars is challenging since the feature…
A prescription to calculate the minimum number of bits needed for binary strip detector readout is presented. This permits a systematic analysis of the readout efficiency relative to this theoretical minimum number of bits. Different level…