Related papers: Sensor Placement for Globally Optimal Coverage of …
Depth cameras, typically in RGB-D configurations, are common devices in mobile robotic platforms given their appealing features: high frequency and resolution, low price and power requirements, among others. These sensors may come with…
We consider a distributed edge computing scenario consisting of several wireless nodes that are located over an area of interest. Specifically, some of the "master" nodes are tasked to sense the environment (e.g., by acquiring images or…
In future cellular systems, wireless localization and sensing functions will be built-in for specific applications, e.g., navigation, transportation, and healthcare, and to support flexible and seamless connectivity. Driven by this trend,…
Next Best View computation (NBV) is a long-standing problem in robotics, and consists in identifying the next most informative sensor position(s) for reconstructing a 3D object or scene efficiently and accurately. Like most current methods,…
Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…
In many applications of autonomous mobile robots the following problem is encountered. Two maps of the same environment are available, one a prior map and the other a sensor map built by the robot. To benefit from all available information…
In this paper, we propose an efficient range free localization scheme for large scale three dimensional wireless sensor networks. Our system environment consists of two type of sensors, randomly deployed static sensors and global…
Base placement optimization (BPO) is a fundamental capability for mobile manipulation and has been researched for decades. However, it is still very challenging for some reasons. First, compared with humans, current robots are extremely…
We can only allow human-robot-cooperation in a common work cell if the human integrity is guaranteed. A surveillance system with multiple cameras can detect collisions without contact to the human collaborator. A failure safe system needs…
In this paper, we investigate an unmanned aerial vehicle (UAV)-assisted integrated communication and localization network in emergency scenarios where a single UAV is deployed as both an airborne base station (BS) and anchor node to assist…
Coverage problems are central in optimization and have a wide range of applications in data mining and machine learning. While several distributed algorithms have been developed for coverage problems, the existing methods suffer from…
This paper presents a robust and efficient semi-dense visual odometry solution for RGB-D cameras. The core of our method is a 2D-3D ICP pipeline which estimates the pose of the sensor by registering the projection of a 3D semi-dense map of…
Target coverage problem in wireless sensor networks is concerned with maximizing the lifetime of the network while continuously monitoring a set of targets. A sensor covers targets which are within the sensing range. For a set of sensors…
Automotive cameras, particularly surround-view cameras, tend to get soiled by mud, water, snow, etc. For higher levels of autonomous driving, it is necessary to have a soiling detection algorithm which will trigger an automatic cleaning…
In inertial motion capture, a multitude of body segments are equipped with inertial sensors, consisting of 3D accelerometers and 3D gyroscopes. Using an optimization-based approach to solve the motion capture problem allows for natural…
In this paper, we present the first constant-approximation algorithm for {\em budgeted sweep coverage problem} (BSC). The BSC involves designing routes for a number of mobile sensors (a.k.a. robots) to periodically collect information as…
In this paper, the programmable signal propagation paradigm, enabled by Reconfigurable Intelligent Surfaces (RISs), is exploited for high accuracy $3$-Dimensional (3D) user localization with a single multi-antenna base station. Capitalizing…
Given a set of $n$ points in the plane, the Unit Disk Cover (UDC) problem asks to compute the minimum number of unit disks required to cover the points, along with a placement of the disks. The problem is NP-hard and several approximation…
Providing coverage for flash crowds is an important application for drone base stations (DBSs). However, any arbitrary crowd is likely to be distributed at a high density. Under the condition for each DBS to serve the same number of ground…
This article presents an analysis of current state-of-the-art sensors and how these sensors work with several mapping algorithms for UAV (Unmanned Aerial Vehicle) applications, focusing on low-altitude and high-speed scenarios. A new…