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Recent advancements in LiDAR technology have significantly lowered costs and improved both its precision and resolution, thereby solidifying its role as a critical component in autonomous vehicle localization. Using sophisticated 3D…
This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…
Localization is a crucial task for autonomous mobile robots in order to successfully move to goal locations in their environment. Usually, this is done in a robot-centric manner, where the robot maintains a map with its body in the center.…
Advancements in LiDAR technology have led to more cost-effective production while simultaneously improving precision and resolution. As a result, LiDAR has become integral to vehicle localization, achieving centimeter-level accuracy through…
Accurate localization in diverse environments is a fundamental challenge in computer vision and robotics. The task involves determining a sensor's precise position and orientation, typically a camera, within a given space. Traditional…
A Reconfigurable Intelligent Surface (RIS) can significantly enhance network positioning and mapping, acting as an additional anchor point in the reference system and improving signal strength and measurement diversity through the…
Multi-object tracking (MOT) has important applications in monitoring, logistics, and other fields. This paper develops a real-time multi-object tracking and prediction system in rugged environments. A 3D object detection algorithm based on…
WLAN Device-free passive DfP indoor localization is an emerging technology enabling the localization of entities that do not carry any devices nor participate actively in the localization process using the already installed wireless…
Classification between different activities in an indoor environment using wireless signals is an emerging technology for various applications, including intrusion detection, patient care, and smart home. Researchers have shown different…
We propose a permutation-invariant neural architecture for indoor localization using RSSI scans from Wi-Fi access points. Each scan is modeled as an unordered set of (BSSID, RSSI) pairs, where BSSIDs are mapped to learned embeddings and…
Localization is expected to play a significant role in future wireless networks as positioning and situational awareness, navigation and tracking, are integral parts of 6G usage scenarios. Nevertheless, in many cases localization requires…
Reconfigurable intelligent surfaces (RISs) are set to be a revolutionary technology in the 6th generation of wireless systems. In this work, we study the application of RIS in a multi-user passive localization scenario, where we have one…
Position sensitive detectors (PSDs) offer possibility to track single active marker's two (or three) degrees of freedom (DoF) position with a high accuracy, while having a fast response time with high update frequency and low latency, all…
Inferring the location of a mobile device in an indoor setting is an open problem of utmost significance. A leading approach that does not require the deployment of expensive infrastructure is fingerprinting, where a classifier is trained…
Localization of a robotic system within a previously mapped environment is important for reducing estimation drift and for reusing previously built maps. Existing techniques for geometry-based localization have focused on the description of…
This paper introduces a high-precision indoor positioning and tracking method that utilizes multi-site single-input single-output (SISO) radar systems. We propose a novel velocity synthesis-assisted (VSA) localization algorithm that…
Indoor magnetic fields are a combination of Earth's magnetic field and disruptions induced by ferromagnetic objects, such as steel structural components in buildings. As a result of these disruptions, pervasive in indoor spaces, magnetic…
Underwater target localization uses real-time sensory measurements to estimate the position of underwater objects of interest, providing critical feedback information for underwater robots. While acoustic sensing is the most acknowledged…
Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…
Target localization is a critical task in various applications, such as search and rescue, surveillance, and wireless sensor networks. When a target emits a radio frequency (RF) signal, spatially distributed sensors can collect signal…