Related papers: Absolute Geometry Calibration of Distributed Micro…
In this paper, we propose to simultaneously estimate all the sampling rate offsets (SROs) of multiple devices. In a distributed microphone array, the SRO is inevitable, which deteriorates the performance of array signal processing. Most of…
Determining the position and orientation of a calibrated camera from a single image with respect to a 3D model is an essential task for many applications. When 2D-3D correspondences can be obtained reliably, perspective-n-point solvers can…
Audio-visual speaker tracking has drawn increasing attention over the past few years due to its academic values and wide applications. Audio and visual modalities can provide complementary information for localization and tracking. With…
In this paper, we present an accelerometer-based kinematic calibration algorithm to accurately estimate the pose of multiple sensor units distributed along a robot body. Our approach is self-contained, can be used on any robot provided with…
Existing methods utilizing spatial information for sound source separation require prior knowledge of the direction of arrival (DOA) of the source or utilize estimated but imprecise localization results, which impairs the separation…
We present a unique comparative analysis, and evaluation of vision, radio, and audio based localization algorithms. We create the first baseline for the aforementioned sensors using the recently published Lund University Vision, Radio, and…
Visual place recognition techniques based on deep learning, which have imposed themselves as the state-of-the-art in recent years, do not generalize well to environments visually different from the training set. Thus, to achieve top…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
Speech separation with several speakers is a challenging task because of the non-stationarity of the speech and the strong signal similarity between interferent sources. Current state-of-the-art solutions can separate well the different…
Sonar-based indoor mapping systems have been widely employed in robotics for several decades. While such systems are still the mainstream in underwater and pipe inspection settings, the vulnerability to noise reduced, over time, their…
Never having seen an object and heard its sound simultaneously, can the model still accurately localize its visual position from the input audio? In this work, we concentrate on the Audio-Visual Localization and Segmentation tasks but under…
In audio-visual navigation, an agent intelligently travels through a complex, unmapped 3D environment using both sights and sounds to find a sound source (e.g., a phone ringing in another room). Existing models learn to act at a fixed…
This paper proposes a high-accuracy radio map construction method tailored for environments where location information is affected by bursty errors. Radio maps are an effective tool for visualizing wireless environments. Although extensive…
Visual Speech Recognition (VSR) aims to recognize corresponding text by analyzing visual information from lip movements. Due to the high variability and weak information of lip movements, VSR tasks require effectively utilizing any…
Recent advancements in UAV technology have spurred interest in developing multi-UAV aerial surveying systems for use in confined environments where GNSS signals are blocked or jammed. This paper focuses airborne magnetic surveying…
With 3D sensing becoming cheaper, environment-aware and visually-guided robot arms capable of safely working in collaboration with humans will become common. However, a reliable calibration is needed, both for camera internal calibration,…
Speaker verification based on ad-hoc microphone arrays has the potential of reducing the error significantly in adverse acoustic environments. However, existing approaches extract utterance-level speaker embeddings from each channel of an…
We propose and implement a novel relative positioning system, WalkieLokie, to enable more kinds of Augmented Reality applications, e.g., virtual shopping guide, virtual business card sharing. WalkieLokie calculates the distance and…
This paper addresses the problem of distributed event localization using noisy range measurements with respect to sensors with known positions. Event localization is fundamental in many wireless sensor network applications such as homeland…
Sound event localization aims at estimating the positions of sound sources in the environment with respect to an acoustic receiver (e.g. a microphone array). Recent advances in this domain most prominently focused on utilizing deep…