Related papers: DynoLoc: Infrastructure-free RF Tracking in Dynami…
Deformable linear objects (DLOs) manipulation presents significant challenges due to DLOs' inherent high-dimensional state space and complex deformation dynamics. The wide-populated obstacles in realistic workspaces further complicate DLO…
Due to the ability to synthesize high-quality novel views, Neural Radiance Fields (NeRF) have been recently exploited to improve visual localization in a known environment. However, the existing methods mostly utilize NeRFs for data…
We study active object tracking, where a tracker takes visual observations (i.e., frame sequences) as input and produces the corresponding camera control signals as output (e.g., move forward, turn left, etc.). Conventional methods tackle…
While the satellite-based Global Positioning System (GPS) is adequate for some outdoor applications, many other applications are held back by its multi-meter positioning errors and poor indoor coverage. In this paper, we study the…
Augmented Reality (AR) brings immersive experiences to users. With recent advances in computer vision and mobile computing, AR has scaled across platforms, and has increased adoption in major products. One of the key challenges in enabling…
Smart and unobtrusive mobile sensor nodes that accurately track their own position have the potential to augment data collection with location-based functions. To attain this vision of unobtrusiveness, the sensor nodes must have a compact…
We introduce AnytimeYOLO, a family of variants of the YOLO architecture that enables anytime object detection. Our AnytimeYOLO networks allow for interruptible inference, i.e., they provide a prediction at any point in time, a property…
3D occupancy-based perception pipeline has significantly advanced autonomous driving by capturing detailed scene descriptions and demonstrating strong generalizability across various object categories and shapes. Current methods…
Tracking and following objects of interest is critical to several robotics use cases, ranging from industrial automation to logistics and warehousing, to healthcare and security. In this paper, we present a robotic system to detect, track,…
The future of location-aided applications is shaped by the ubiquity of Internet-of-Things devices. As an increasing amount of commercial off-the-shelf radio devices support channel response collection, it is possible to achieve fine-grained…
With the success of deep learning, object recognition systems that can be deployed for real-world applications are becoming commonplace. However, inference that needs to largely take place on the `edge' (not processed on servers), is a…
Augmented reality (AR) games, particularly those designed for head-mounted displays, have grown increasingly prevalent. However, most existing systems depend on pre-scanned, static environments and rely heavily on continuous tracking or…
We present DynamicPose, a retraining-free 6D pose tracking framework that improves tracking robustness in fast-moving camera and object scenarios. Previous work is mainly applicable to static or quasi-static scenes, and its performance…
This paper introduces a novel framework for high-accuracy outdoor user equipment (UE) positioning that applies a conditional generative diffusion model directly to high-dimensional massive MIMO channel state information (CSI). Traditional…
The assumption of scene rigidity is common in visual SLAM algorithms. However, it limits their applicability in populated real-world environments. Furthermore, most scenarios including autonomous driving, multi-robot collaboration and…
In the realm of object pose estimation, scenarios involving both dynamic objects and moving cameras are prevalent. However, the scarcity of corresponding real-world datasets significantly hinders the development and evaluation of robust…
The proliferation of wireless localization technologies provides a promising future for serving human beings in indoor scenarios. Their applications include real-time tracking, activity recognition, health care, navigation, emergence…
In this paper, we investigate the employment of reconfigurable intelligent surfaces (RISs) into vehicle platoons, functioning in tandem with a base station (BS) in support of the high-precision location tracking. In particular, the use of a…
Stringent line-of-sight demands necessitated by the fast attenuating nature of millimeter waves (mmWaves) through obstacles pose one of the central problems of next generation wireless networks. These mmWave links are easily disrupted due…
This paper presents a lidar-only state estimation and tracking framework, along with a roadside sensing unit for integration with existing urban infrastructure. Urban deployments demand scalable, real-time tracking solutions, yet…