Related papers: Localization with Single or Antipodal Distance Mea…

Global localization is essential for robot navigation, of which the first step is to retrieve a query from the map database. This problem is called place recognition. In recent years, LiDAR scan based place recognition has drawn attention…

Self-supervised surround-view depth estimation enables dense, low-cost 3D perception with a 360{\deg} field of view from multiple minimally overlapping images. Yet, most existing methods suffer from depth estimates that are inconsistent…

Wireless Sensor Networks (WSNs) are composed of nodes that gather metrics like temperature, pollution or pressure from events generated by external entities. Localization in WSNs is paramount, given that the collected metrics must be…

We are given a set of sensors at given locations, a set of potential locations for placing base stations (BSs, or sinks), and another set of potential locations for placing wireless relay nodes. There is a cost for placing a BS and a cost…

We study the network localization problem, i.e., the problem of determining node positions of a wireless sensor network modeled as a unit disk graph. In an arbitrarily deployed network, positions of all nodes of the network may not be…

This paper presents a robust and efficient semi-dense visual odometry solution for RGB-D cameras. The core of our method is a 2D-3D ICP pipeline which estimates the pose of the sensor by registering the projection of a 3D semi-dense map of…

Approximation problems involving a single convex body in $d$-dimensional space have received a great deal of attention in the computational geometry community. In contrast, works involving multiple convex bodies are generally limited to…

The raise of collaborative robotics has led to wide range of sensor technologies to detect human-machine interactions: at short distances, proximity sensors detect nontactile gestures virtually occlusion-free, while at medium distances,…

Learning in hyperbolic spaces has attracted increasing attention due to its superior ability to model hierarchical structures of data. Most existing hyperbolic learning methods use fixed distance measures for all data, assuming a uniform…

Place recognition using SOund Navigation and Ranging (SONAR) images is an important task for simultaneous localization and mapping(SLAM) in underwater environments. This paper proposes a robust and efficient imaging SONAR based place…

Hydrogenated amorphous silicon (a-Si:H) is a material having an intrinsically high radiation hardness that can be deposited on flexible substrates like Polyimide. For these properties a-Si:H can be used for the production of flexible…

This article studies the problem of distributed formation control for multiple robots by using onboard ultra wide band (UWB) distance and inertial odometer (IO) measurements. Although this problem has been widely studied, a fundamental…

We approximate the backward reachable set of discrete-time autonomous polynomial systems using the recently developed occupation measure approach. We formulate the problem as an infinite-dimensional linear programming (LP) problem on…

In many applications of autonomous mobile robots the following problem is encountered. Two maps of the same environment are available, one a prior map and the other a sensor map built by the robot. To benefit from all available information…

In this paper, we propose a high-order extension of the multiscale method introduced by the authors in [SIAM J. Numer. Anal., 63(4) (2025), pp. 1617--1641] for heterogeneous Stokes problems, while also providing several other improvements,…

Conventional approaches to sound localization and separation are based on microphone arrays in artificial systems. Inspired by the selective perception of human auditory system, we design a multi-source listening system which can separate…

Vision based localization is the problem of inferring the pose of the camera given a single image. One solution to this problem is to learn a deep neural network to infer the pose of a query image after learning on a dataset of images with…

Localizing mobile robotic nodes in indoor and GPS-denied environments is a complex problem, particularly in dynamic, unstructured scenarios where traditional cameras and LIDAR-based sensing and localization modalities may fail.…

Given a set of sites in a simple polygon, a geodesic Voronoi diagram of the sites partitions the polygon into regions based on distances to sites under the geodesic metric. We present algorithms for computing the geodesic nearest-point,…

We tackle the challenge of reliably and automatically localizing pedestrians in real-life conditions through overhead depth imaging at unprecedented high-density conditions. Leveraging upon a combination of Histogram of Oriented…