Related papers: FLORIS and CLORIS: Hybrid Source and Network Local…
Radio source localization can benefit many fields, including wireless communications, radar, radio astronomy, wireless sensor networks, positioning systems, and surveillance systems. However, accurately estimating the position of a radio…
We propose an efficient solution to peer-to-peer localization in a wireless sensor network which works in two stages. At the first stage the optimization problem is relaxed into a convex problem, given in the form recently proposed by…
In this paper, a 2-stage robust distributed algorithm is proposed for cooperative sensor network localization using time of arrival (TOA) data without identification of non-line of sight (NLOS) links. In the first stage, to overcome the…
The recent research in the emerging technology of reconfigurable intelligent surfaces (RISs) has identified its high potential for localization and sensing. However, to accurately localize a user placed in the area of influence of an RIS,…
This paper studies a coordinate alignment problem for cooperative mobile sensor network localization with range-based measurements. The network consists of target nodes, each of which has only access position information in a local fixed…
Accurate estimation of the position of network nodes is essential, e.g., in localization, geographic routing, and vehicular networks. Unfortunately, typical positioning techniques based on ranging or on velocity and angular measurements are…
This paper proposes a novel inertial-aided localization approach by fusing information from multiple inertial measurement units (IMUs) and exteroceptive sensors. IMU is a low-cost motion sensor which provides measurements on angular…
Due to its ability to precisely control wireless beams, holographic multiple-input multiple-output (HMIMO) is expected to be a promising solution to achieve high-accuracy localization. However, as the scale of HMIMO increases to improve…
Locating sources of diffusion and spreading from minimum data is a significant problem in network science with great applied values to the society. However, a general theoretical framework dealing with optimal source localization is…
The accurate and low-cost localization of sensors using a wireless sensor network is critically required in a wide range of today's applications. We propose a novel, robust maximum likelihood-type method for distributed cooperative received…
We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization. We use two fixed-lag smoothers (FLS) to decouple accurate…
This paper studies the source (event) localization problem in decentralized wireless sensor networks (WSNs) under the fault model without knowing the sensor parameters. Event localizations have many applications such as localizing…
We present novel solutions to the problem of direct localization of multiple narrow-band and arbitrarily correlated sources by partly calibrated arrays, i.e., arrays composed of fully calibrated sub-arrays yet lacking inter-array…
In this paper, a cooperative localization algorithm is proposed that considers the existence of obstacles in mobilityassisted wireless sensor networks (WSNs). In this scheme, a mobile anchor (MA) node cooperates with static sensor nodes and…
We develop a framework for localized source detection in dynamical systems governed by nonlinear partial differential equations based on first and second-order sensitivity analysis. Building on the standard adjoint formulation, which…
The homography matrix is a key component in various vision-based robotic tasks. Traditionally, homography estimation algorithms are classified into feature- or intensity-based. The main advantages of the latter are their versatility,…
This paper addresses the problem of localizing audio sources using binaural measurements. We propose a supervised formulation that simultaneously localizes multiple sources at different locations. The approach is intrinsically efficient…
We introduce Ground-Fusion, a low-cost sensor fusion simultaneous localization and mapping (SLAM) system for ground vehicles. Our system features efficient initialization, effective sensor anomaly detection and handling, real-time dense…
Point cloud capture processes are error-prone and introduce noisy artifacts that necessitate filtering/denoising. Recent filtering methods often suffer from point clustering or noise retaining issues. In this paper, we propose Hybrid Point…
This paper presents a sound source localization strategy that relies on a microphone array embedded in an unmanned ground vehicle and an asynchronous close-talking microphone near the operator. A signal coarse alignment strategy is combined…