Related papers: A Geometric Approach to Passive Localisation
Safety and automatic control are extremely important when operating manipulators. For large engineering manipulators, the main challenge is to accurately recognize the posture of all arm segments. In classical sensing methods, the accuracy…
In this paper, we propose a novel framework called rigid body localization for joint position and orientation estimation of a rigid body. We consider a setup in which a few sensors are mounted on a rigid body. The absolute position of the…
This paper addresses the problem of sound-source localization from time-delay estimates using arbitrarily-shaped non-coplanar microphone arrays. A novel geometric formulation is proposed, together with a thorough algebraic analysis and a…
We propose a 6D Bayesian-based localization framework to estimate the position and rotation angles of a mobile station (MS) within an indoor reconfigurable intelligent surface (RIS)-aided system. This framework relies on a probabilistic…
This paper proposes a robust, high-precision positioning methodology to address localization failures arising from complex background interference in large-scale flight navigation and the computational inefficiency inherent in conventional…
Robots are moving towards applications in less structured environments, but their model-based controllers are challenged by the tasks' complexity and intrinsic environmental unpredictability. Studying biological motor control can provide…
This paper addresses the challenge of achieving robust and reliable positioning of a radio device carried by an agent, in scenarios where direct line-of-sight (LOS) radio links are obstructed by the agent. We propose a Bayesian estimation…
This paper proposes a novel method for geo-tracking, i.e. continuous metric self-localization in outdoor environments by registering a vehicle's sensor information with aerial imagery of an unseen target region. Geo-tracking methods offer…
We propose an active jammer localization framework that combines Bayesian optimization with acquisition-aware path planning. Unlike passive crowdsourced methods, our approach adaptively guides a mobile agent to collect high-utility Received…
This paper studies 3-D distributed network localization using mixed types of local relative measurements. Each node holds a local coordinate frame without a common orientation and can only measure one type of information (relative position,…
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…
Background: Pose estimation of rigid objects is a practical challenge in optical metrology and computer vision. This paper presents a novel stochastic-geometrical modeling framework for object pose estimation based on observing multiple…
The performance of modern object detectors drops when the test distribution differs from the training one. Most of the methods that address this focus on object appearance changes caused by, e.g., different illumination conditions, or gaps…
We study the problem of estimating a function of many parameters acquired by sensors that are distributed in space, e.g., the spatial gradient of a field. We restrict ourselves to a setting where the distributed sensors are probed with…
Spatial perception aims to estimate camera motion and scene structure from visual observations, a problem traditionally addressed through geometric modeling and physical consistency constraints. Recent learning-based methods have…
Despite the remarkable advances in image matching and pose estimation, image-based localization of a camera in a temporally-varying outdoor environment is still a challenging problem due to huge appearance disparity between query and…
We introduce a lightweight and accurate localization method that only utilizes the geometry of 2D-3D lines. Given a pre-captured 3D map, our approach localizes a panorama image, taking advantage of the holistic 360 view. The system…
We introduce a Bayesian estimation approach for the passive localization of an acoustic source in shallow water using a single mobile receiver. The proposed probabilistic focalization method estimates the time-varying source location in the…
Location awareness in wireless networks may enable many applications such as emergency services, autonomous driving and geographic routing. Although there are many available positioning techniques, none of them is adapted to work with…
Equilibrium-independent passive-short (EIPS) systems are a class of systems that satisfy a passivity-like dissipation inequality with respect to any forced equilibria with non-positive passivity indices. This paper presents a geometric…