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Indoor navigation is a foundational technology to assist the tracking and localization of humans, autonomous vehicles, drones, and robots in indoor spaces. Due to the lack of penetration of GPS signals in buildings, subterranean locales,…
We propose a novel learning-based formulation for visual localization of vehicles that can operate in real-time in city-scale environments. Visual localization algorithms determine the position and orientation from which an image has been…
In this paper we investigate the problem of localizing a mobile device based on readings from its embedded sensors utilizing machine learning methodologies. We consider a real-world environment, collect a large dataset of 3110 datapoints,…
An appearance-based robot self-localization problem is considered in the machine learning framework. The appearance space is composed of all possible images, which can be captured by a robot's visual system under all robot localizations.…
We have developed an algorithm to generate a complete map of the traversable region for a personal assistant robot using monocular vision only. Using multiple taken by a simple webcam, obstacle detection and avoidance algorithms have been…
Augmented reality (AR) displays become more and more popular recently, because of its high intuitiveness for humans and high-quality head-mounted display have rapidly developed. To achieve such displays with augmented information, highly…
We address the problem of robot localization using ground penetrating radar (GPR) sensors. Current approaches for localization with GPR sensors require a priori maps of the system's environment as well as access to approximate global…
In this work, we tackle the problem of active camera localization, which controls the camera movements actively to achieve an accurate camera pose. The past solutions are mostly based on Markov Localization, which reduces the position-wise…
This paper focuses on building semantic maps, containing object poses and shapes, using a monocular camera. This is an important problem because robots need rich understanding of geometry and context if they are to shape the future of…
The operational environments in which a mobile robot executes its missions often exhibit non-flat terrain characteristics, encompassing outdoor and indoor settings featuring ramps and slopes. In such scenarios, the conventional…
Realizing relative localization by leveraging inter-robot local measurements is a challenging problem, especially in the presence of measurement noise. Motivated by this challenge, in this paper we propose a novel and systematic 3-D…
Accurate and robust pose estimation plays a crucial role in many robotic systems. Popular algorithms for pose estimation typically rely on high-fidelity and high-frequency signals from various sensors. Inclusion of these sensors makes the…
Accurate distance estimation is a fundamental challenge in robotic perception, particularly in omnidirectional imaging, where traditional geometric methods struggle with lens distortions and environmental variability. In this work, we…
Tidy-up tasks by service robots in home environments are challenging in robotics applications because they involve various interactions with the environment. In particular, robots are required not only to grasp, move, and release various…
Accurate robot localization relative to orchard row centerlines is essential for autonomous guidance where satellite signals are often obstructed by foliage. Existing sensor-based approaches rely on various features extracted from images…
A wireless sensor network comprises of small sensor nodes each of which consists of a processing device, small amount of memory, battery and radio transceiver for communication. The sensor nodes are autonomous and spatially distributed in…
This paper introduces an underwater multi-robot platform, named Aucamp, characterized by cost-effective monocular-camera-based sensing, distributed protocol and robust orientation control for localization. We utilize the clarity feature to…
Solving the camera-to-robot pose is a fundamental requirement for vision-based robot control, and is a process that takes considerable effort and cares to make accurate. Traditional approaches require modification of the robot via markers,…
With the ongoing development of Indoor Location-Based Services, the location information of users in indoor environments has been a challenging issue in recent years. Due to the widespread use of WiFi networks, WiFi fingerprinting has…
Today, mobile robots are expected to carry out increasingly complex tasks in multifarious, real-world environments. Often, the tasks require a certain semantic understanding of the workspace. Consider, for example, spoken instructions from…