Related papers: Autonomous Localization and Mapping Using a Single…
Robust and accurate, map-based localization is crucial for autonomous mobile systems. In this paper, we exploit range images generated from 3D LiDAR scans to address the problem of localizing mobile robots or autonomous cars in a map of a…
We present a novel approach for the reconstruction of dynamic geometric shapes using a single hand-held consumer-grade RGB-D sensor at real-time rates. Our method does not require a pre-defined shape template to start with and builds up the…
In this work, we propose a novel approach for high accuracy user localization by merging tools from both millimeter wave (mmWave) imaging and communications. The key idea of the proposed solution is to leverage mmWave imaging to construct a…
Hearables with integrated microphones may offer communication benefits in noisy working environments, e.g. by transmitting the recorded own voice of the user. Systems aiming at reconstructing the clean and full-bandwidth own voice from…
We are working towards 3D reconstruction of indoor spaces using a pair of HDR cameras in a stereo vision configuration mounted on an indoor mobile floor robot that captures various textures and spatial features as 2D images and this data is…
We present a new algorithm for single camera 3D reconstruction, or 3D input for human-computer interfaces, based on precise tracking of an elongated object, such as a pen, having a pattern of colored bands. To configure the system, the user…
Human localization is gaining momentum in security, healthcare, logistics, and smart spaces applications. While global navigation systems are unreliable indoor, device-free (a.k.a. passive) localization methods that exploit human-induced…
In-ear microphones in hearing protection devices can be utilized to capture the own voice speech of the person wearing the devices in noisy environments. Since in-ear recordings of the own voice are typically band-limited, an own voice…
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…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…
This paper presents a simple and robust method for the automatic localisation of static 3D objects in large-scale urban environments. By exploiting the potential to merge a large volume of noisy but accurately localised 2D image data, we…
The ubiquitous presence of WiFi access points and mobile devices capable of measuring WiFi signal strengths allow for real-world applications in indoor localization and mapping. In particular, no additional infrastructure is required.…
In cluttered environments where visual sensors encounter heavy occlusion, such as in agricultural settings, tactile signals can provide crucial spatial information for the robot to locate rigid objects and maneuver around them. We introduce…
Research into dynamic 3D scene understanding has primarily focused on short-term change tracking from dense observations, while little attention has been paid to long-term changes with sparse observations. We address this gap with MoRE, a…
An indoor layout sensing and localization system in 60GHz millimeter wave (mmWave) band, named mmReality, is elaborated in this paper. The mmReality system consists of one transmitter and one mobile receiver, each with a phased array and a…
Any audio recording encapsulates the unique fingerprint of the associated acoustic environment, namely the background noise and reverberation. Considering the scenario of a room equipped with a fixed smart speaker device with one or more…
Reconstructing geometry and topology structures from raw unstructured data has always been an important research topic in indoor mapping research. In this paper, we aim to reconstruct the floorplan with a vectorized representation from…
Humans naturally perceive surrounding scenes by unifying sound and sight in a first-person view. Likewise, machines are advanced to approach human intelligence by learning with multisensory inputs from an egocentric perspective. In this…
Indoor relocalization is vital for both robotic tasks like autonomous exploration and civil applications such as navigation with a cell phone in a shopping mall. Some previous approaches adopt geometrical information such as key-point…
Acoustical behavior of a room for a given position of microphone and sound source is usually described using the room impulse response. If we rely on the standard uniform sampling, the estimation of room impulse response for arbitrary…