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Accurate knowledge of the state variables in a dynamical system is critical for effective control, diagnosis, and supervision, especially when direct measurements of all states are infeasible. This paper presents a novel approach to…
Light Detection and Ranging (LiDAR) technology has proven to be an important part of many robotics systems. Surface normals estimated from LiDAR data are commonly used for a variety of tasks in such systems. As most of the today's…
We present a statistical method based on a maximum likelihood approach to constrain the number counts of extragalactic sources below the nominal flux-density limit of continuum imaging surveys. We extract flux densities from a radio map…
We consider sampling and detection strategies for solar illuminated space debris. We argue that the lowest detectable debris cross section may be reduced by 10-100x by analysis of stacks of image frames collected at high rates rather than…
Radar-based non-contact respiration rate (RR) measurement has become increasingly popular due to its convenience, non-intrusiveness, and low cost. However, it is still quite challenging to accurately acquire vital signs estimation in…
Trajectory estimation involves determining the trajectory of a mobile robot by combining prior knowledge about its dynamic model with noisy observations of its state obtained using sensors. The accuracy of such a procedure is dictated by…
Accurate motion capture of aerial robots in 3-D is a key enabler for autonomous operation in indoor environments such as warehouses or factories, as well as driving forward research in these areas. The most commonly used solutions at…
Large-scale transmission radiography scanners are used to image vehicles and cargo containers. Acquired images are inspected for threats by a human operator or a computer algorithm. To make accurate detections, it is important that image…
We address object tracking by radar and the robustness of the current state-of-the-art methods to process outliers. The standard tracking algorithms extract detections from radar image space to use it in the filtering stage. Filtering is…
The paper derives the theoretical Cramer-Rao lower bound for parameter estimation of a source (of emitting energy, gas, aerosol), monitored by a network of sensors providing binary measurements. The theoretical bound is studied in the…
A double-correlation method is introduced to locate tremor sources based on stacks of complex, doubly-correlated tremor records of multiple triplets of seismographs back projected to hypothetical source locations in a geographic grid. Peaks…
Significant human and observational resources have been dedicated to electromagnetic followup of gravitational-wave events detected by Advanced LIGO and Virgo. As the sensitivity of LIGO and Virgo improves, the rate of sources detected will…
Secure ranging is poised to play a critical role in several emerging applications such as self-driving cars, unmanned aerial systems, wireless IoT devices, and augmented reality. In this paper, we propose a design of a secure broadcast…
This paper addresses the problem of detecting radioactive material in transit using an UAV of minimal sensing capability, where the objective is to classify the target's radioactivity as the vehicle plans its paths through the workspace…
All 21-cm signal experiments rely on electronic receivers that affect the data via both multiplicative and additive biases through the receiver's gain and noise temperature. While experiments attempt to remove these biases, the residuals of…
Uncertainty is prevalent in robotics. Due to measurement noise and complex dynamics, we cannot estimate the exact system and environment state. Since conservative motion planners are not guaranteed to find a safe control strategy in a…
Accurate, real-time wireless signal prediction is essential for next-generation networks. However, existing vision-based frameworks often rely on computationally intensive models and are also sensitive to environmental interference. To…
External effects such as shocks and temperature variations affect the calibration of visual-inertial sensor systems and thus they cannot fully rely on factory calibrations. Re-calibrations performed on short user-collected datasets might…
This paper experimentally and theoretically investigates the fundamental bounds on radio localization precision of far-field Received Signal Strength (RSS) measurements. RSS measurements are proportional to power-flow measurements…
The hunt for Earth analogue planets orbiting Sun-like stars has forced the introduction of novel methods to detect signals at, or below, the level of the intrinsic noise of the observations. We present a new global periodogram method that…