Related papers: Cooperative Wireless Sensor Network Positioning vi…
The estimation of 6D poses of rigid objects is a fundamental problem in computer vision. Traditionally pose estimation is concerned with the determination of a single best estimate. However, a single estimate is unable to express visual…
Future wireless networks are expected to be a convergence of many diverse network technologies and architectures, such as cellular networks, wireless local area networks, sensor networks, and device to device communications. Through…
We propose two novel algorithms for distributed and location-free boundary recognition in wireless sensor networks. Both approaches enable a node to decide autonomously whether it is a boundary node, based solely on connectivity information…
This paper addresses the consistency issue of multi-robot distributed cooperative localization. We introduce a consistent distributed cooperative localization algorithm conducting state estimation in a transformed coordinate. The core idea…
An unknown-position sensor can be localized if there are three or more anchors making time-of-arrival (TOA) measurements of a signal from it. However, the location errors can be very large due to the fact that some of the measurements are…
We solve object localisation in partial scenes, a new problem of estimating the unknown position of an object (e.g. where is the bag?) given a partial 3D scan of a scene. The proposed solution is based on a novel scene graph model, the…
Spectral-based subspace clustering methods have proved successful in many challenging applications such as gene sequencing, image recognition, and motion segmentation. In this work, we first propose a novel spectral-based subspace…
In this paper, we consider the problem of collaboratively estimating the sparsity pattern of a sparse signal with multiple measurement data in distributed networks. We assume that each node makes Compressive Sensing (CS) based measurements…
In this paper, we consider a network of processors aiming at cooperatively solving mixed-integer convex programs subject to uncertainty. Each node only knows a common cost function and its local uncertain constraint set. We propose a…
Routing algorithms for wireless sensor networks can be broadly divided into two classes - proactive and reactive. Proactive routing is suitable for a network with a fixed topology. On the other hand, reactive routing is more suitable for a…
Coordinating proximity and tactile imaging by collocating cameras with tactile sensors can 1) provide useful information before contact such as object pose estimates and visually servo a robot to a target with reduced occlusion and higher…
We propose a localization algorithm for wireless sensor networks, which is simple in design, does not involve significant overhead and yet provides acceptable position estimates of sensor nodes. The algorithm uses settled nodes as beacon…
In this paper, we consider the problem of sparse signal detection based on partial support set estimation with compressive measurements in a distributed network. Multiple nodes in the network are assumed to observe sparse signals which…
We propose Co-op, a novel method for accurately and robustly estimating the 6DoF pose of objects unseen during training from a single RGB image. Our method requires only the CAD model of the target object and can precisely estimate its pose…
In this paper, we propose a distributed algorithm to control a team of cooperating robots aiming to protect a target from a set of intruders. Specifically, we model the strategy of the defending team by means of an online optimization…
This paper proposes a theoretical framework for estimating a target-object shape, the location of which is not given, by using mobile distance sensors the locations of which are also unknown. Typically, mobile sensors are mounted on…
We consider the problem of projecting a convex set onto a subspace, or equivalently formulated, the problem of computing a set obtained by applying a linear mapping to a convex feasible set. This includes the problem of approximating convex…
Object pose estimation is a necessary prerequisite for autonomous robotic manipulation, but the presence of symmetry increases the complexity of the pose estimation task. Existing methods for object pose estimation output a single 6D pose.…
This work develops a unified nonlinear estimation-guidance-control framework for cooperative simultaneous interception of a stationary target under a heterogeneous sensing topology, where sensing capabilities are non-uniform across…
Locating a target is key in many applications, namely in high-stakes real-world scenarios, like detecting humans or obstacles in vehicular networks. In scenarios where precise statistics of the measurement noise are unavailable,…