Related papers: Localization with Single or Antipodal Distance Mea…
Sensor-based Human Activity Recognition facilitates unobtrusive monitoring of human movements. However, determining the most effective sensor placement for optimal classification performance remains challenging. This paper introduces a…
In this manuscript we consider the well-established problem of TDOA-based source localization and propose a comprehensive analysis of its solutions for arbitrary sensor measurements and placements. More specifically, we define the TDOA map…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…
Let $P$ be a set of $n$ points in $d$-dimensions. The simplicial depth, $\sigma_P(q)$ of a point $q$ is the number of $d$-simplices with vertices in $P$ that contain $q$ in their convex hulls. The simplicial depth is a notion of data depth…
Reliable robot pose estimation is a key building block of many robot autonomy pipelines, with LiDAR localization being an active research domain. In this work, a versatile self-supervised LiDAR odometry estimation method is presented, in…
Proper Orthogonal Decomposition (POD) is a widely used technique for the construction of low-dimensional approximation spaces from high-dimensional input data. For large-scale applications and an increasing amount of input data vectors,…
Thermal-Hydraulic (TH) experiments provide valuable insight into the physics of heat and mass transfer and qualified data for code development, calibration and validation. However, measurements are typically collected from sparsely…
We are developing position sensitive silicon detectors (PSDs) which have an electrode at each of four corners so that incident position of a charged particle can be obtained with signal from the electrodes. It is expected that the position…
Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively…
Consider a point set D with a measure function w : D -> R. Let A be the set of subsets of D induced by containment in a shape from some geometric family (e.g. axis-aligned rectangles, half planes, balls, k-oriented polygons). We say a range…
We present a new method for estimating the 6D pose of rigid objects with available 3D models from a single RGB input image. The method is applicable to a broad range of objects, including challenging ones with global or partial symmetries.…
This paper presents an effective and reliable pose tracking solution, termed ERPoT, for mobile robots operating in large-scale outdoor and challenging indoor environments, underpinned by an innovative prior polygon map. Especially, to…
In this paper, we consider the problem of partitioning a polygon into a set of connected disjoint sub-polygons, each of which covers an area of a specific size. The work is motivated by terrain covering applications in robotics, where the…
Change detection, i.e., anomaly detection from local maps built by a mobile robot at multiple different times, is a challenging problem to solve in practice. Most previous work either cannot be applied to scenarios where the size of the map…
The objective of this study is improving the location estimate of a mobile robot capable of motion on a plane and mounted with a conventional 2D LIDAR sensor, given an initial guess for its location on a 2D map of its surroundings.…
With the advent of consumer grade depth sensors, low-cost volumetric capture systems are easier to deploy. Their wider adoption though depends on their usability and by extension on the practicality of spatially aligning multiple sensors.…
Approximating distance is one of the key challenge in a facility location problem. Several algorithms have been proposed, however, none of them focused on estimating distance between two concave regions. In this work, we present an…
Indoor localization is one of the crucial enablers for deployment of service robots. Although several successful techniques for indoor localization have been proposed, the majority of them relies on maps generated from data gathered with…
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…
Accurate information about the location and orientation of a camera in mobile devices is central to the utilization of location-based services (LBS). Most of such mobile devices rely on GPS data but this data is subject to inaccuracy due to…