Related papers: Exploiting Coplanar Clusters to Enhance 3D Localiz…
This paper proposes a 3D LiDAR SLAM algorithm named Ground-SLAM, which exploits grounds in structured multi-floor environments to compress the pose drift mainly caused by LiDAR measurement bias. Ground-SLAM is developed based on the…
Spatial modeling of wireless networks via analytical means has been considered as a widely practiced mechanism for inference. As a result, some geometrical deployment models have been proposed in literature. Although practical in certain…
Wireless sensor networks (WSNs) suffers from the hot spot problem where the sensor nodes closest to the base station are need to relay more packet than the nodes farther away from the base station. Thus, lifetime of sensory network depends…
Accurate indoor node localization is critical for practical Wireless Sensor Network (WSN) applications, as Global Positioning System (GPS) fails to provide reliable Line-of-Sight (LoS) conditions in most indoor environments. Real-world…
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…
This paper presents a terrestrial localization system based on 5G infrastructure as a viable alternative to GNSS, particularly in scenarios where GNSS signals are obstructed or unavailable. It discusses network planning aimed at enabling…
In the context of increasing use of moving wireless sensor nodes the interest in localizing these nodes in their application environment is strongly rising. For many applications, it is necessary to know the exact position of the nodes in…
The position of the base station (BS) in wireless sensor networks (WSNs) has a significant impact on network lifetime. This paper suggests a mobile BS positioning algorithm for cluster-based WSNs, which considers both the location and the…
We present a novel approach for relocalization or place recognition, a fundamental problem to be solved in many robotics, automation, and AR applications. Rather than relying on often unstable appearance information, we consider a situation…
Accurate localization for mobile nodes has been an important and fundamental problem in underwater acoustic sensor networks (UASNs). The detection information returned from a mobile node is meaningful only if its location is known. In this…
Global localization of a mobile robot using planar surface segments extracted from depth images is considered. The robot's environment is represented by a topological map consisting of local models, each representing a particular location…
We study a mobile wireless sensor network (MWSN) consisting of multiple mobile sensors or robots. Two key issues in MWSNs - energy consumption, which is dominated by sensor movement, and sensing coverage - have attracted plenty of…
Wi-Fi fingerprinting remains one of the most practical solutions for indoor positioning, however, its performance is often limited by the size and heterogeneity of fingerprint datasets, strong Received Signal Strength Indicator variability,…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…
To accomplish task efficiently in a multiple robots system, a problem that has to be addressed is Simultaneous Localization and Mapping (SLAM). LiDAR (Light Detection and Ranging) has been used for many SLAM solutions due to its superb…
This technical report outlines the top-ranking solution for RoboSense 2025: Track 3, achieving state-of-the-art performance on 3D object detection under various sensor placements. Our submission utilizes GBlobs, a local point cloud feature…
Localization accuracy is of paramount importance for the proper operation of underwater optical wireless sensor networks (UOWSNs). However, underwater localization is prone to hostile environmental impediments such as drifts due to the…
Localization of mobile nodes in a wireless sensor networks (WSNs) is an active area of research. In this paper, we present a novel RSSI based localization algorithm for 802.15.4 (ZigBee) based WSNs. We propose and implement a novel range…
Location is one of the basic information required for underwater optical wireless sensor networks (UOWSNs) for different purposes such as relating the sensing measurements with precise sensor positions, enabling efficient geographic routing…