Related papers: A Geometric Approach to Passive Localisation
Emission relativistic coordinates are a class of spacetime coordinates defined and generated by four emitters (satellites, pulsars) broadcasting their proper time by radio signals. They are the main ingredient of the simplest conceivable…
This work addresses visual cross-view metric localization for outdoor robotics. Given a ground-level color image and a satellite patch that contains the local surroundings, the task is to identify the location of the ground camera within…
Conventional SLAM algorithms takes a strong assumption of scene motionlessness, which limits the application in real environments. This paper tries to tackle the challenging visual SLAM issue of moving objects in dynamic environments. We…
This paper addresses the problem of vision-based pedestrian localization, which estimates a pedestrian's location using images and camera parameters. In practice, however, calibrated camera parameters often deviate from the ground truth,…
Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…
Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…
Accurate state estimation is a fundamental problem for autonomous robots. To achieve locally accurate and globally drift-free state estimation, multiple sensors with complementary properties are usually fused together. Local sensors…
Understanding the locations of occupants in a commercial built environment is critical for realizing energy savings by delivering lighting, heating, and cooling only where it is needed. The key to achieving this goal is being able to…
We describe a new approach for dealing with the following central problem in the self-organization of a geometric sensor network: Given a polygonal region R, and a large, dense set of sensor nodes that are scattered uniformly at random in…
We consider optimal sensor placement for hyper-parameterized linear Bayesian inverse problems, where the hyper-parameter characterizes nonlinear flexibilities in the forward model, and is considered for a range of possible values. This…
In this paper, we present a new geometric approach for sensitivity analysis in linear programming that is computationally practical for a decision-maker to study the behavior of the optimal solution of the linear programming problem under…
A wireless sensor network comprises of small sensor nodes each of which consists of a processing device, small amount of memory, battery and radio transceiver for communication. The sensor nodes are autonomous and spatially distributed in…
This paper studies the possibility of upper bounding the position error of an estimate for range based positioning algorithms in wireless sensor networks. In this study, we argue that in certain situations when the measured distances…
Squared planar markers are a popular tool for fast, accurate and robust camera localization, but its use is frequently limited to a single marker, or at most, to a small set of them for which their relative pose is known beforehand. Mapping…
This paper introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D…
The localization of directional RF emitters presents significant challenges for electronic warfare applications. Traditional localization methods, designed for omnidirectional emitters, experience degraded performance when applied to…
Visual sensor networks are used for monitoring traffic in large cities and are promised to support automated driving in complex road segments. The pose of these sensors, i.e. position and orientation, directly determines the coverage of the…
Accurate metrical localization is one of the central challenges in mobile robotics. Many existing methods aim at localizing after building a map with the robot. In this paper, we present a novel approach that instead uses geotagged…
Sensing using cellular infrastructure may be one of the defining feature of sixth generation (6G) wireless systems. Wideband 6G communication channels operating at higher frequency bands (upper mmWave bands) are better modeled using…
In this article, we describe and numerically implement a method for relativistic location in slightly curved but otherwise generic spacetimes. For terrestrial positioning in the context of Global Navigation Satellite Systems, our algorithm…