Related papers: Probabilistic Radio-Visual Active Sensing for Sear…
We consider the following positioning problem where several base stations (BS) try to locate a user equipment (UE): The UE sends a positioning signal to several BS. Each BS performs Angle of Arrival (AoA) measurements on the received…
In recent years, several progressive works promote the development of aerial tracking. One of the representative works is our previous work Fast-tracker which is applicable to various challenging tracking scenarios. However, it suffers from…
Vision-based estimation of the motion of a moving target is usually formulated as a bearing-only estimation problem where the visual measurement is modeled as a bearing vector. Although the bearing-only approach has been studied for…
This paper improves visual-inertial systems to boost the localization accuracy for low-cost rescue robots. When robots traverse on rugged terrain, the performance of pose estimation suffers from big noise on the measurements of the inertial…
We propose a predictive runtime monitoring framework that forecasts the distribution of future positions of mobile robots in order to detect and avoid impending property violations such as collisions with obstacles or other agents. Our…
Existing visual tracking methods usually localize a target object with a bounding box, in which the performance of the foreground object trackers or detectors is often affected by the inclusion of background clutter. To handle this problem,…
To ensure safety in confined environments such as mines or subway tunnels, a (wireless) sensor network can be deployed to monitor various environmental conditions. One of its most important applications is to track personnel, mobile…
LADARs mounted on mobile platforms produce a wealth of precise range data on the surrounding objects and vehicles. The challenge we address is to infer from these raw LADAR data the location and orientation of nearby vehicles. We propose a…
We consider the visual feature selection to improve the estimation quality required for the accurate navigation of a robot. We build upon a key property that asserts: contributions of trackable features (landmarks) appear linearly in the…
We study an adaptive source seeking problem, in which a mobile robot must identify the strongest emitter(s) of a signal in an environment with background emissions. Background signals may be highly heterogeneous and can mislead algorithms…
Dynamic target detection and target tracking are hot issues in the field of image. In order to explore its application value in the field of mobile robot, a dynamic target detection and tracking system is designed based on hexapod robot.…
Predicting the location where a lost person could be found is crucial for search and rescue operations with limited resources. To improve the precision and efficiency of these predictions, simulated agents can be created to emulate the…
A Bayesian approach is presented for detecting and characterising the signal from discrete objects embedded in a diffuse background. The approach centres around the evaluation of the posterior distribution for the parameters of the discrete…
In this paper, we propose a novel computer vision-based approach to aid Reconfigurable Intelligent Surface (RIS) for dynamic beam tracking and then implement the corresponding prototype verification system. A camera is attached at the RIS…
The ability for an autonomous agent or robot to track and identify potentially multiple objects in a dynamic environment is essential for many applications, such as automated surveillance, traffic monitoring, human-robot interaction, etc.…
An algorithm based on compressive sensing (CS) is proposed for synthetic aperture radar (SAR) imaging of moving targets. The received SAR echo is decomposed into the sum of basis sub-signals, which are generated by discretizing the target…
In aerial visual area coverage missions, the camera footprint changes over time based on the camera position and orientation -- a fact that complicates the whole process of coverage and path planning. This article proposes a solution to the…
Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailable. In many visual navigation systems, localization is…
Active sensing refers to the process of choosing or tuning a set of sensors in order to track an underlying system in an efficient and accurate way. In a wireless environment, among the several kinds of features extracted by traditional…
This paper addresses robust waveform design for multiple-input-multiple-output (MIMO) radar detection. A probabilistic model is proposed to describe the target uncertainty. Considering that waveform design based on maximizing the…