Related papers: A Geometric Approach to Passive Localisation
Vehicular visible light positioning (VLP) methods find relative locations of vehicles by estimating the positions of intensity-modulated head/tail lights of one vehicle (target) with respect to another (ego). Estimation is done in two…
Localization, that is the estimation of a robot's location from sensor data, is a fundamental problem in mobile robotics. This papers presents a version of Markov localization which provides accurate position estimates and which is tailored…
We propose a geometry-specific, mode-selective quantization scheme in coupled field-emitter systems which makes it easy to include material and geometrical properties, intrinsic losses as well as the positions of an arbitrary number of…
In this work, we address the problem of optimally placing a finite number of sensors within a given region so as to minimize the mean or maximal distance to the points of the domain. To tackle this natural geometric performance criterion,…
This paper introduces an algorithm able to detect and localize the occurrance of a fault in an Active Distribution Network, using the measurements collected by Phasor Measurement Units (PMUs). First, a basic algorithm that works under the…
Location awareness is now becoming a vital requirement for many practical applications. In this paper, we consider passive localization of multiple targets with one transmitter and several receivers based on time of arrival (TOA)…
This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…
Autonomous robot networks are an effective tool for monitoring large-scale environmental fields. This paper proposes distributed control strategies for localizing the source of a noisy signal, which could represent a physical quantity of…
This paper proposes a novel geometric solution for tracking a moving target through multistatic sensing. In contrast to existing two-step weighted least square (2SWLS) methods which use the bistatic range (BR) and bistatic range rate (BRR)…
In this paper, a comprehensive survey of the pioneer as well as the state of-the-art localization and tracking methods in the wireless sensor networks is presented. Localization is mostly applicable for the static sensor nodes, whereas,…
This paper concerns models and convergence principles for dealing with stochasticity in a wide range of algorithms arising in nonlinear analysis and optimization in Hilbert spaces. It proposes a flexible geometric framework within which…
Fitting concentric geometric objects to digitized data is an important problem in many areas such as iris detection, autonomous navigation, and industrial robotics operations. There are two common approaches to fitting geometric shapes to…
Range-based localization is ubiquitous: global navigation satellite systems (GNSS) power mobile phone-based navigation, and autonomous mobile robots can use range measurements from a variety of modalities including sonar, radar, and even…
We propose a distributed positioning algorithm to estimate the unknown positions of a number of target nodes, given distance measurements between target nodes and between target nodes and a number of reference nodes at known positions.…
Global navigation satellite system (GNSS) interference poses a serious threat to reliable positioning, especially in indoor and multipath-rich environments where source localization is highly challenging. In this paper, we formulate GNSS…
Starting from the description of space-time as a curved four-dimensional manifold, null Gaussian coordinates systems as appropriate for relativistic positioning will be discussed. Different approaches and strategies will be reviewed,…
Localization is a fundamental enabler technology for many applications, like vehicular networks, IoT, and even medicine. While Global Navigation Satellite Systems solutions offer great performance, they are unavailable in scenarios like…
Mobile wireless sensors are increasingly recognized as a valuable tool for monitoring critical infrastructures. An important use case is the discovery of leaks and inflows in pipe networks using a swarm of floating sensor nodes. While…
Pick-and-place is an important manipulation task in domestic or manufacturing applications. There exist many works focusing on grasp detection with high picking success rate but lacking consideration of downstream manipulation tasks (e.g.,…
We address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-free pose for the object that a) facilitates the stable…