Related papers: Localization with Single or Antipodal Distance Mea…
We present a method for determining the unknown location of a sensor placed in a known 2D environment in the presence of unknown dynamic obstacles, using only few distance measurements. We present guarantees on the quality of the…
PoseNet can map a photo to the position where it is taken, which is appealing in robotics. However, training PoseNet requires full supervision, where ground truth positions are non-trivial to obtain. Can we train PoseNet without knowing the…
We present a novel technique to estimate the 6D pose of objects from single images where the 3D geometry of the object is only given approximately and not as a precise 3D model. To achieve this, we employ a dense 2D-to-3D correspondence…
Accurate indoor positioning for wireless communication systems represents an important step towards enhanced reliability and security, which are crucial aspects for realizing Industry 4.0. In this context, this paper presents an…
Many applications have been identified which require the deployment of large-scale low-power wireless sensor networks. Some of the deployment environments, however, impose harsh operation conditions due to intense cross-technology…
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…
For a group of cooperating UAVs, localizing each other is often a key task. This paper studies the localization problem for a group of UAVs flying in 3D space with very limited information, i.e., when noisy distance measurements are the…
Range-based localization is ubiquitous: global navigation satellite systems (GNSS) power mobile phone-based navigation, and autonomous mobile robots can use range measurements from a variety of modalities including sonar, radar, and even…
Although monitoring and covering are fundamental goals of a wireless sensor network (WSN), the accidental death of sensors or the running out of their energy would result in holes in the WSN. Such holes have the potential to disrupt the…
Sensor network localization problem is to determine the position of the sensor nodes in a network given pairwise distance measurements. Such problem can be formulated as a polynomial minimization via the least squares method. This paper…
An unknown-position sensor can be localized if there are three or more anchors making time-of-arrival (TOA) measurements of a signal from it. However, the location errors can be very large due to the fact that some of the measurements are…
Robust and accurate localization is an essential component for robotic navigation and autonomous driving. The use of cameras for localization with high definition map (HD Map) provides an affordable localization sensor set. Existing methods…
Localization is one of the pivotal issues in wireless sensor network applications. In 3D localization studies, most algorithms focus on enhancing the location prediction process, lacking theoretical derivation of the detection distance of…
Motivated by secure wireless networking, we consider the problem of placing fixed localizers that enable mobile communication devices to prove they belong to a secure region that is defined by the interior of a polygon. Each localizer views…
The proper orthogonal decomposition (POD) is a powerful classical tool in fluid mechanics used, for instance, for model reduction and extraction of coherent flow features. However, its applicability to high-resolution data, as produced by…
A furthest neighbor data structure on a metric space $(V,\mathrm{dist})$ and a set $P \subseteq V$ answers the following query: given $v \in V$, output $p \in P$ maximizing $\mathrm{dist}(v,p)$; in the approximate version, it is allowed to…
Perceiving the environment through touch is important for robots to reach in cluttered environments, but devising a way to sense without disturbing objects is challenging. This work presents the design and modelling of whisker-inspired…
In recent years, depth sensors have become more and more affordable and have found their way into a growing amount of robotic systems. However, mono- or multi-modal sensor registration, often a necessary step for further processing, faces…
We study the problem of placing a set $T$ of broadcast towers in a simple polygon $P$ in order for any point to locate itself in the interior of $P$. Let $V(p)$ denote the visibility polygon of a point $p$, as the set of all points $q \in…
As Wireless Sensor Networks are penetrating into the industrial domain, many research opportunities are emerging. One such essential and challenging application is that of node localization. A feed-forward neural network based methodology…