Related papers: Autonomous Localization and Mapping Using a Single…
A key aspect of the precision of a mobile robots localization is the quality and aptness of the map it is using. A variety of mapping approaches are available that can be employed to create such maps with varying degrees of effort, hardware…
We propose a system to capture nearly-synchronous frame streams from multiple and moving handheld mobiles that is suitable for dynamic object 3D reconstruction. Each mobile executes Simultaneous Localisation and Mapping on-board to estimate…
Sampling is classically performed by recording the amplitude of an input signal at given time instants; however, sampling and reconstructing a signal using multiple devices in parallel becomes a more difficult problem to solve when the…
The paper presents an approach to indoor personal localization on a mobile device based on visual place recognition. We implemented on a smartphone two state-of-the-art algorithms that are representative to two different approaches to…
Indoor localization in GPS-denied environments is crucial for applications like emergency response and assistive navigation. Vision-based methods such as PALMS enable infrastructure-free localization using only a floor plan and a stationary…
It was shown in our earlier work that the measurement error in the microphone position affected the room impulse response (RIR) which in turn affected the single-channel close microphone and multi-channel distant microphone speech…
Developing algorithms for sound classification, detection, and localization requires large amounts of flexible and realistic audio data, especially when leveraging modern machine learning and beamforming techniques. However, most existing…
Acquiring 3D geometry of real world objects has various applications in 3D digitization, such as navigation and content generation in virtual environments. Image remains one of the most popular media for such visual tasks due to its…
Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by…
Acoustic reverberation is one of the most relevant factors that hampers the localization of a sound source inside a room. To date, several approaches have been proposed to deal with it, but have not always been evaluated under realistic…
We consider the problem of positioning a cloud of points in the Euclidean space $\mathbb{R}^d$, using noisy measurements of a subset of pairwise distances. This task has applications in various areas, such as sensor network localization and…
For a group of cooperating UAVs, localizing each other is often a key task. This paper studies the localization problem for a group of UAVs flying in 3D space with very limited information, i.e., when noisy distance measurements are the…
In this paper, we present PALMS, an innovative indoor global localization and relocalization system for mobile smartphones that utilizes publicly available floor plans. Unlike most vision-based methods that require constant visual input,…
Reshaping accurate and realistic 3D human bodies from anthropometric parameters (e.g., height, chest size, etc.) poses a fundamental challenge for person identification, online shopping and virtual reality. Existing approaches for creating…
Own voice pickup for hearables in noisy environments benefits from using both an outer and an in-ear microphone outside and inside the occluded ear. Due to environmental noise recorded at both microphones, and amplification of the own voice…
Accurately estimating sound source positions is crucial for robot audition. However, existing sound source localization methods typically rely on a microphone array with at least two spatially preconfigured microphones. This requirement…
In this paper we present a new robust sound source localization and tracking method using an array of eight microphones (US patent pending) . The method uses a steered beamformer based on the reliability-weighted phase transform (RWPHAT)…
Re-localizing a camera from a single image in a previously mapped area is vital for many computer vision applications in robotics and augmented/virtual reality. In this work, we address the problem of estimating the 6 DoF camera pose…
Localization defines a term to describe the identifying process of a location within the space of two-dimensional (2D) space or three-dimensional (3D). A localization scheme is an important concern for connecting sensor nodes in remote…
High precision localization is a crucial requirement for the autonomous driving system. Traditional positioning methods have some limitations in providing stable and accurate vehicle poses, especially in an urban environment. Herein, we…