Related papers: Real-time 3-D Mapping with Estimating Acoustic Mat…

This paper explores the problem of 3D human pose estimation from only low-level acoustic signals. The existing active acoustic sensing-based approach for 3D human pose estimation implicitly assumes that the target user is positioned along a…

This paper presents a novel indoor layout estimation system based on the fusion of 2D LiDAR and intensity camera data. A ground robot explores an indoor space with a single floor and vertical walls, and collects a sequence of intensity…

This work introduces a cooperative inspection system designed to efficiently control and coordinate a team of distributed heterogeneous UAV agents for the inspection of 3D structures in cluttered, unknown spaces. Our proposed approach…

Advances in object tracking and acoustic beamforming are driving new capabilities in surveillance, human-computer interaction, and robotics. This work presents an embedded system that integrates deep learning-based tracking with beamforming…

We propose a real-time method to estimate spatiallyvarying indoor lighting from a single RGB image. Given an image and a 2D location in that image, our CNN estimates a 5th order spherical harmonic representation of the lighting at the given…

We present a stereo-based dense mapping algorithm for large-scale dynamic urban environments. In contrast to other existing methods, we simultaneously reconstruct the static background, the moving objects, and the potentially moving but…

The goal of this paper is to take a single 2D image of a scene and recover the 3D structure in terms of a small set of factors: a layout representing the enclosing surfaces as well as a set of objects represented in terms of shape and pose.…

Conventional approaches to sound localization and separation are based on microphone arrays in artificial systems. Inspired by the selective perception of human auditory system, we design a multi-source listening system which can separate…

An estimated 253 million people have visual impairments. These visual impairments affect everyday lives, and limit their understanding of the outside world. This can pose a risk to health from falling or collisions. We propose a solution to…

To endow machines with the ability to perceive the real-world in a three dimensional representation as we do as humans is a fundamental and long-standing topic in Artificial Intelligence. Given different types of visual inputs such as…

Can conversational videos captured from multiple egocentric viewpoints reveal the map of a scene in a cost-efficient way? We seek to answer this question by proposing a new problem: efficiently building the map of a previously unseen 3D…

Accurately localizing 3D sound sources and estimating their semantic labels -- where the sources may not be visible, but are assumed to lie on the physical surface of objects in the scene -- have many real applications, including detecting…

In recent years, 3D mapping for indoor environments has undergone considerable research and improvement because of its effective applications in various fields, including robotics, autonomous navigation, and virtual reality. Building an…

Robots require a semantic understanding of their surroundings to operate in an efficient and explainable way in human environments. In the literature, there has been an extensive focus on object labeling and exhaustive scene graph…

We present a novel 3D mapping method leveraging the recent progress in neural implicit representation for 3D reconstruction. Most existing state-of-the-art neural implicit representation methods are limited to object-level reconstructions…

Room geometry inference algorithms rely on the localization of acoustic reflectors to identify boundary surfaces of an enclosure. Rooms with highly absorptive walls or walls at large distances from the measurement setup pose challenges for…

The materials of surfaces in a room play an important room in shaping the auditory experience within them. Different materials absorb energy at different levels. The level of absorption also varies across frequencies. This paper…

In this paper, we propose a novel method to jointly solve scene layout estimation and global registration problems for accurate indoor 3D reconstruction. Given a sequence of range data, we first build a set of scene fragments using…

We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space,…

We introduce OnRMap, an online radio mapping (RMap) approach for the sensing and localization of active users (AUs), devices that are transmitting radio signals, and passive elements (PEs), elements that are in the environment and are…