Related papers: Localization with Single or Antipodal Distance Mea…
In this paper, we propose a robust end-to-end multi-modal pipeline for place recognition where the sensor systems can differ from the map building to the query. Our approach operates directly on images and LiDAR scans without requiring any…
We present a new approach to approximate nearest-neighbor queries in fixed dimension under a variety of non-Euclidean distances. We are given a set $S$ of $n$ points in $\mathbb{R}^d$, an approximation parameter $\varepsilon > 0$, and a…
Weakly supervised object detection (WSOD), which is the problem of learning detectors using only image-level labels, has been attracting more and more interest. However, this problem is quite challenging due to the lack of location…
Regular object detection methods output rectangle bounding boxes, which are unable to accurately describe the actual object shapes. Instance segmentation methods output pixel-level labels, which are computationally expensive for real-time…
With the recent development of technology, wireless sensor networks (WSN) are becoming an important part of many applications. Knowing the exact location of each sensor in the network is very important issue. Therefore, the localization…
Numerical homogenization aims to efficiently and accurately approximate the solution space of an elliptic partial differential operator with arbitrarily rough coefficients in a $d$-dimensional domain. The application of the inverse operator…
The present work considers the localization problem in wireless sensor networks formed by fixed nodes. Each node seeks to estimate its own position based on noisy measurements of the relative distance to other nodes. In a centralized batch…
The problem of wireless localization asks to place and orient stations in the plane, each of which broadcasts a unique key within a fixed angular range, so that each point in the plane can determine whether it is inside or outside a given…
We present an approach for estimating a mobile robot's pose w.r.t. the allocentric coordinates of a network of static cameras using multi-view RGB images. The images are processed online, locally on smart edge sensors by deep neural…
This work examines two ways of using proper orthogonal decomposition (POD) to enhance the prior work of EITPose, a device which uses electrical impedance tomography (EIT) to detect posture by way of a band of electrodes on the forearm.…
We propose to couple two types of Intel RealSense sensors (tracking T265 and depth D435i) in order to obtain localization and 3D occupancy map of the indoor environment. We implemented a python-based observer pattern with multi-threaded…
Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…
Let $\mathcal{W} \subset \mathbb{R}^2$ be a planar polygonal environment (i.e., a polygon potentially with holes) with a total of $n$ vertices, and let $A,B$ be two robots, each modeled as an axis-aligned unit square, that can translate…
Indoor localization systems often fuse inertial odometry with map information via hand-defined methods to reduce odometry drift, but such methods are sensitive to noise and struggle to generalize across odometry sources. To address the…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
Localization of a wireless mobile device or a robot in indoor and GPS-denied environments is a difficult problem, particularly in dynamic scenarios where traditional cameras and LIDAR-based alternative sensing and localization modalities…
We consider the inverse problem of reconstructing an unknown function $u$ from a finite set of measurements, under the assumption that $u$ is the trajectory of a transport-dominated problem with unknown input parameters. We propose an…
Source localization in graphs involves identifying the origin of a phenomenon or event, such as an epidemic outbreak or a misinformation source, by leveraging structural graph properties. One key concept in this context is the metric…
Indoor position technology has become one of the research highlights in the Internet of Things (IoT), but there is still a lack of universal, low-cost, and high-precision solutions. This paper conducts research on indoor position technology…
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…