Related papers: Multi-User Augmented Reality with Infrastructure-f…
Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…
Visual localization is a fundamental task that regresses the 6 Degree Of Freedom (6DoF) poses with image features in order to serve the high precision localization requests in many robotics applications. Degenerate conditions like motion…
One of the hardest challenges to face in the development of a non GPS-based localization system for autonomous vehicles is the changes of the environment. LiDAR-based systems typically try to match the last measurements obtained with a…
We propose a novel edge-assisted multi-user collaborative augmented reality framework in a large indoor environment. In Collaborative Augmented Reality, data communication that synchronizes virtual objects has large network traffic and high…
Lidar odometry has attracted considerable attention as a robust localization method for autonomous robots operating in complex GNSS-denied environments. However, achieving reliable and efficient performance on heterogeneous platforms in…
In multi-robot systems, relative localization between platforms plays a crucial role in many tasks, such as leader following, target tracking, or cooperative maneuvering. State of the Art (SotA) approaches either rely on…
Human-robot collaboration frequently requires extensive communication, e.g., using natural language and gestures. Augmented reality (AR) has provided an alternative way of bridging the communication gap between robots and people. However,…
Virtual content instability caused by device pose tracking error remains a prevalent issue in markerless augmented reality (AR), especially on smartphones and tablets. However, when examining environments which will host AR experiences, it…
In recent years, with the rapid development of augmented reality (AR) technology, there is an increasing demand for multi-user collaborative experiences. Unlike for single-user experiences, ensuring the spatial localization of every user…
Tracking object poses in 3D is a crucial building block for Augmented Reality applications. We propose an instant motion tracking system that tracks an object's pose in space (represented by its 3D bounding box) in real-time on mobile…
Robots in a swarm take advantage of a motion capture system or GPS sensors to obtain their global position. However, motion capture systems are environment-dependent and GPS sensors are not reliable in occluded environments. For a reliable…
Multi-camera dynamic Augmented Reality (AR) applications require a camera pose estimation to leverage individual information from each camera in one common system. This can be achieved by combining contextual information, such as markers or…
Visual Inertial Odometry (VIO) is an essential component of modern Augmented Reality (AR) applications. However, VIO only tracks the relative pose of the device, leading to drift over time. Absolute pose estimation methods infer the…
Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded…
We address the localization of robots in a multi-MAV system where external infrastructure like GPS or motion capture systems may not be available. Our approach lends itself to implementation on platforms with several constraints on size,…
Reconfigurable intelligent surfaces (RISs) are expected to be a main component of future 6G networks, due to their capability to create a controllable wireless environment, and achieve extended coverage and improved localization accuracy.…
We develop novel methods for device-free localization (DFL) using transceivers in motion. Such localization technologies are useful in various cross-layer applications/protocols including those that are related to security situations where…
We present AudioMiXR, an augmented reality (AR) interface intended to assess how users manipulate virtual audio objects situated in their physical space using six degrees of freedom (6DoF) deployed on a head-mounted display (Apple Vision…
Localization is a fundamental task in robotics for autonomous navigation. Existing localization methods rely on a single input data modality or train several computational models to process different modalities. This leads to stringent…
Multiple LiDARs have progressively emerged on autonomous vehicles for rendering a wide field of view and dense measurements. However, the lack of precise calibration negatively affects their potential applications in localization and…