Related papers: DimRad: A Radar-Based Perception System for Prosth…
Occluded pedestrian re-identification (ReID) in base station environments is a critical task in computer vision, particularly for surveillance and security applications. This task faces numerous challenges, as occlusions often obscure key…
Radar-based perception has gained increasing attention in autonomous driving, yet the inherent sparsity of radars poses challenges. Radar raw data often contains excessive noise, whereas radar point clouds retain only limited information.…
This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid robots, a problem traditionally tackled by optimization-based methods or reinforcement learning (RL). Optimization-based methods, such as model-predictive…
Fall detection, particularly critical for high-risk demographics like the elderly, is a key public health concern where timely detection can greatly minimize harm. With the advancements in radio frequency technology, radar has emerged as a…
In this letter, we present tightly coupled LiDAR-IMU-leg odometry, which is robust to challenging conditions such as featureless environments and deformable terrains. We developed an online learning-based leg kinematics model named the…
Off-road robotics have traditionally utilized lidar for local navigation due to its accuracy and high resolution. However, the limitations of lidar, such as reduced performance in harsh environmental conditions and limited range, have…
Radar presents a promising alternative to lidar and vision in autonomous vehicle applications, able to detect objects at long range under a variety of weather conditions. However, distinguishing between occupied and free space from raw…
This paper proposes a parametric-based network architecture for joint channel estimation and data detection in communications systems with hardware impairments. This architecture is composed of a data-augmented layer, a custom soft…
State estimation is a crucial component for the successful implementation of robotic systems, relying on sensors such as cameras, LiDAR, and IMUs. However, in real-world scenarios, the performance of these sensors is degraded by challenging…
This paper presents the first machine learning based real-world demonstration for radar-aided beam prediction in a practical vehicular communication scenario. Leveraging radar sensory data at the communication terminals provides important…
Over the past decade, lidars have become a cornerstone of robotics state estimation and perception thanks to their ability to provide accurate geometric information about their surroundings in the form of 3D scans. Unfortunately, most of…
The applicability of Doppler radar for gait analysis is investigated by quantitatively comparing the measured biomechanical parameters to those obtained using motion capturing and ground reaction forces. Nineteen individuals walked on a…
Assistive robotic devices, like soft lower-limb exoskeletons or exosuits, are widely spreading with the promise of helping people in everyday life. To make such systems adaptive to the variety of users wearing them, it is desirable to endow…
Arthroscopic procedures can greatly benefit from navigation systems that enhance spatial awareness, depth perception, and field of view. However, existing optical tracking solutions impose strict workspace constraints and disrupt surgical…
Complex ADMM-Net, a complex-valued neural network architecture inspired by the alternating direction method of multipliers (ADMM), is designed for interference removal in super-resolution stepped frequency radar angle-range-doppler imaging.…
Common fully glazed facades and transparent objects present architectural barriers and impede the mobility of people with low vision or blindness, for instance, a path detected behind a glass door is inaccessible unless it is correctly…
Rehabilitation aims to help patients with limited mobility regain their physical abilities through targeted movements, exercises, stimulation, and other therapeutic methods. Recent advances in technology have introduced sensor-based systems…
Around-the-corner radar sensing offers an opportunity for the radar to exploit multipath scattering along walls to detect targets beyond blockages. However, the radar detection performance is limited to spotting uncooperative targets at…
We propose a novel method, ProNav, which uses proprioceptive signals for traversability estimation in challenging outdoor terrains for autonomous legged robot navigation. Our approach uses sensor data from a legged robot's joint encoders,…
Sensor-based human activity recognition (HAR) is now a research hotspot in multiple application areas. With the rise of smart wearable devices equipped with inertial measurement units (IMUs), researchers begin to utilize IMU data for HAR.…