Related papers: A Geometric Approach to Passive Localisation
This work introduces a reduced order modeling (ROM) framework for the solution of parameterized second-order linear elliptic partial differential equations formulated on unfitted geometries. The goal is to construct efficient…
This paper proposes a theoretical framework for estimating a target-object shape, the location of which is not given, by using mobile distance sensors the locations of which are also unknown. Typically, mobile sensors are mounted on…
A geometric nonlinear observer algorithm for Simultaneous Localization and Mapping (SLAM) developed on the Lie group of \mathbb{SLAM}_{n}\left(3\right) is proposed. The presented novel solution estimates the vehicle's pose (i.e. attitude…
This paper considers the problem of completing assemblies of passive objects in nonconvex environments, cluttered with convex obstacles of unknown position, shape and size that satisfy a specific separation assumption. A differential drive…
This paper proposes a new image-based localization framework that explicitly localizes the camera/robot by fusing Convolutional Neural Network (CNN) and sequential images' geometric constraints. The camera is localized using a single or few…
Accurate wireless localization underpins applications from autonomous systems to smart infrastructure. We study the mean-squared error (MSE) and conditional MSE (CMSE) of a practical fusion-based estimator in d-dimensional, stationary…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
Incorporating integrated sensing and communication capabilities into forthcoming 6G wireless networks is crucial for achieving seamless synchronization between the digital and physical worlds. The following paper focuses on a scenario where…
Position sensitive detectors (PSDs) offer possibility to track single active marker's two (or three) degrees of freedom (DoF) position with a high accuracy, while having a fast response time with high update frequency and low latency, all…
In a paper ( posthumously ) co-authored by Isaac Newton himself, the primacy of geometric notions in pedagogical expositions of centripetal acceleration has been clearly asserted. In the present paper we demonstrate how this pedagogical…
When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…
We propose and evaluate an iterative localization mechanism employing Bayesian inference to estimate the position of a target using received signal strength measurements. The probability density functions of the target's coordinates are…
This paper presents a method to estimate the 3D object position and occupancy given a set of object detections in multiple images and calibrated cameras. This problem is modelled as the estimation of a set of quadrics given 2D conics fit to…
Location-aware networks will introduce new services and applications for modern convenience, surveillance, and public safety. In this paper, we consider the problem of cooperative localization in a wireless network where the position of…
The efficient placement of signal templates in source-parameter space is a crucial requisite for exhaustive matched-filtering searches of modeled gravitational-wave sources. Unfortunately, the current placement algorithms based on regular…
In this paper we consider the problem of high accuracy localization of mobile nodes in a multipath-rich environment where sub-meter accuracies are required. We employ a peer to peer framework where the vehicles/nodes can get pairwise…
When dedicated positioning systems, such as GPS, are unavailable, a mobile device has no choice but to fall back on its cellular network for localization. Due to random variations in the channel conditions to its surrounding base stations…
In this paper, we develop a \textit{distributed} algorithm to localize an arbitrary number of agents moving in a bounded region of interest. We assume that the network contains \textit{at least one} agent with known location (hereinafter…
The aim of this Lecture Note is to introduce the Signal Processing (SP) community to a powerful yet still under-utilised tool: the semiparametric statistics. In short, the semiparametric framework allows us to estimate or perform hypothesis…
Active Search and Tracking for search and rescue missions or collaborative mobile robotics relies on the actuation of a sensing platform to detect and localize a target. In this paper we focus on visually detecting a radio-emitting target…