Related papers: 3D Localization of a Sound Source Using Mobile Mic…
A method of binaural rendering from microphone array signals of arbitrary geometry is proposed. To reproduce binaural signals from microphone array recordings at a remote location, a spherical microphone array is generally used for…
This paper presents a simple and robust method for the automatic localisation of static 3D objects in large-scale urban environments. By exploiting the potential to merge a large volume of noisy but accurately localised 2D image data, we…
Smartglasses, in addition to their visual-output capabilities, often contain acoustic sensors for receiving the user's voice. However, operation in noisy environments may lead to significant degradation of the received signal. To address…
Modern robotic systems sense the environment geometrically, through sensors like cameras, lidar, and sonar, as well as semantically, often through visual models learned from data, such as object detectors. We aim to develop robots that can…
Structure from Motion (SfM) techniques are being increasingly used to create 3D maps from images in many domains including environmental monitoring. However, SfM techniques are often confounded in visually repetitive environments as they…
We present a unique comparative analysis, and evaluation of vision, radio, and audio based localization algorithms. We create the first baseline for the aforementioned sensors using the recently published Lund University Vision, Radio, and…
Research in Simultaneous Localization And Mapping (SLAM) is increasingly moving towards richer world representations involving objects and high level features that enable a semantic model of the world for robots, potentially leading to a…
This paper implements Simultaneous Localization and Mapping (SLAM) technique to construct a map of a given environment. A Real Time Appearance Based Mapping (RTAB-Map) approach was taken for accomplishing this task. Initially, a 2d…
A radio map captures the spatial distribution of wireless channel parameters, such as the strength of the signal received, across a geographic area. The problem of fine-grained three-dimensional (3D) radio map construction involves…
Simultaneous localization and mapping (SLAM) in slowly varying scenes is important for long-term robot task completion. Failing to detect scene changes may lead to inaccurate maps and, ultimately, lost robots. Classical SLAM algorithms…
Accurate mapping and localization are very important for many industrial robotics applications. In this paper, we propose an improved Signed Distance Function (SDF) for both 2D SLAM and pure localization to improve the accuracy of mapping…
Collaborative simultaneous localization and mapping (CSLAM) is essential for autonomous aerial swarms, laying the foundation for downstream algorithms such as planning and control. To address existing CSLAM systems' limitations in relative…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
Most SLAM algorithms are based on the assumption that the scene is static. However, in practice, most scenes are dynamic which usually contains moving objects, these methods are not suitable. In this paper, we introduce DymSLAM, a dynamic…
Humans can easily perceive the direction of sound sources in a visual scene, termed sound source localization. Recent studies on learning-based sound source localization have mainly explored the problem from a localization perspective.…
Loudspeaker-based spatial audio reproduction schemes are increasingly used for evaluating hearing aids in complex acoustic conditions. To further establish the feasibility of this approach, this study investigated the interaction between…
Sound Event Localization and Detection (SELD) combines the Sound Event Detection (SED) with the corresponding Direction Of Arrival (DOA). Recently, adopted event oriented multi-track methods affect the generality in polyphonic environments…
This research explores the integration of indoor Simultaneous Localization and Mapping (SLAM) with Augmented Reality (AR) to enhance situational awareness, improving safety in hazardous or emergency situations. The main contribution of this…
SLAM systems are mainly applied for robot navigation while research on feasibility for motion planning with SLAM for tasks like bin-picking, is scarce. Accurate 3D reconstruction of objects and environments is important for planning motion…
To execute collaborative tasks in unknown environments, a robotic swarm needs to establish a global reference frame and locate itself in a shared understanding of the environment. However, it faces many challenges in real-world scenarios,…