Related papers: A Novel Received Signal Strength Assisted Perspect…
Mutual localization plays a crucial role in multi-robot cooperation. CREPES, a novel system that focuses on six degrees of freedom (DOF) relative pose estimation for multi-robot systems, is proposed in this paper. CREPES has a compact…
Intelligent reflecting surfaces (IRS) can improve the physical layer security (PLS) by providing a controllable wireless environment. In this paper, we propose a novel PLS technique with the help of IRS implemented by an intelligent mirror…
This paper proposes the first self-supervised 6D object pose prediction from multimodal RGB+polarimetric images. The novel training paradigm comprises 1) a physical model to extract geometric information of polarized light, 2) a…
We propose a novel solution to the rigid body localization (RBL) problem, in which the three-dimensional (3D) rotation and translation is estimated by only utilizing the range measurements between the wireless sensors on the rigid body and…
In this work, we present an algebraic solution to the classical perspective-3-point (P3P) problem for determining the position and attitude of a camera from observations of three known reference points. In contrast to previous approaches,…
To navigate reliably in indoor environments, an industrial autonomous vehicle must know its position. However, current indoor vehicle positioning technologies either lack accuracy, usability or are too expensive. Thus, we propose a novel…
We introduce a highly performant 3D object detector for point clouds using the DETR framework. The prior attempts all end up with suboptimal results because they fail to learn accurate inductive biases from the limited scale of training…
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…
The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision ranging from robotic vision to image analysis. Our proposed method of registering a 3D model of a known object on a…
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…
Visible Light Communication~(VLC) systems provide not only illumination and data communication, but also indoor monitoring services if the effect that different events create on the received optical signal is properly tracked. For this…
In this paper, we present the first indoor light-based detection and localization system that builds on concepts from radio detection and ranging (radar) making use of the expected growth in the use and adoption of visible light…
In this paper, we present the design and implementation of our latest OpenVLC1.3 platform to perform research in Visible Light Communication Systems. We retain the advantages of the previous versions such as TCP/IP layers support, software…
Similarity metrics have played a significant role in computer vision to capture the underlying semantics of images. In recent years, advanced similarity metrics, such as the Learned Perceptual Image Patch Similarity (LPIPS), have emerged.…
Bluetooth Low Energy systems are one of the most popular solutions used for indoor localization. Unfortunately their accuracy might not be sufficient for some of the applications. One way to reduce localization errors is hybrid positioning,…
Recognizing places from an opposing viewpoint during a return trip is a common experience for human drivers. However, the analogous robotics capability, visual place recognition (VPR) with limited field of view cameras under 180 degree…
A new 3D localization and mapping techinque with terrain inclination assistance is proposed in this paper to allow a robot to identify its location and build a global map in an outdoor environment. The Iterative Closest Points (ICP)…
In this paper, we propose an accurate visible light indoor localization system for a smartphone using the existing commercial light-emitting diode (LED) luminaries. The proposed technique, called geometrical optics positioning algorithm…
The rapid advancement of the next generation of communications and internet of things (IoT) technologies has made the provision of location-based services for diverse devices an increasingly pressing necessity. Localizing devices…
Perspective-$n$-Point (P$n$P) stands as a fundamental algorithm for pose estimation in various applications. In this paper, we present a new approach to the P$n$P problem with relaxed constraints, eliminating the need for precise 3D…