Related papers: Simulation of a first prototypical 3D solution for…
In this paper, we propose an efficient range free localization scheme for large scale three dimensional wireless sensor networks. Our system environment consists of two type of sensors, randomly deployed static sensors and global…
Calling mammals, ships, and many other objects have been commonly located during the last century with two-dimensional (2D) models from measurements of signal time even when the objects are not on the 2D surface. The overwhelmingly common…
$3$D structure recovery from a collection of $2$D images requires the estimation of the camera locations and orientations, i.e. the camera motion. For large, irregular collections of images, existing methods for the location estimation…
Indoor wireless ranging localization is a promising approach for low-power and high-accuracy localization of wearable devices. A primary challenge in this domain stems from non-line of sight propagation of radio waves. This study tackles a…
The last few decades have witnessed a growing interest in location-based services. Using localization systems based on Radio Frequency (RF) signals has proven its efficacy for both indoor and outdoor applications. However, challenges remain…
Acoustic reflector localization is an important issue in audio signal processing, with direct applications in spatial audio, scene reconstruction, and source separation. Several methods have recently been proposed to estimate the 3D…
We present a simultaneous localization and mapping (SLAM) algorithm that is based on radio signals and the association of specular multipath components (MPCs) with geometric features. Especially in indoor scenarios, robust localization from…
A framework for online simultaneous localization, mapping and self-calibration is presented which can detect and handle significant change in the calibration parameters. Estimates are computed in constant-time by factoring the problem and…
Indoor localization is critical for IoT applications, yet challenges such as non-Gaussian noise, environmental interference, and measurement outliers hinder the robustness of traditional methods. Existing approaches, including Kalman…
Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…
Wireless positioning in Non-Line-of-Sight (NLoS) scenarios presents significant challenges due to multipath effects that lead to biased measurements and reduced positioning accuracy. This paper revisits electromagnetic field theory related…
Due to 5G millimeter wave (mmWave), spatial channel parameters are becoming highly resolvable, enabling accurate vehicle localization and mapping. We propose a novel method of radio simultaneous localization and mapping (SLAM) with the…
Physical effects such as reflection, refraction, and diffraction cause a radio signal to arrive from a transmitter to a receiver in multiple replicas that have different amplitude and rotation. Bandwidth-limited signals, such as positioning…
Re-localizing a camera from a single image in a previously mapped area is vital for many computer vision applications in robotics and augmented/virtual reality. In this work, we address the problem of estimating the 6 DoF camera pose…
We propose a method for room layout estimation that does not rely on the typical box approximation or Manhattan world assumption. Instead, we reformulate the geometry inference problem as an instance detection task, which we solve by…
In this paper, we introduce an uplink optical wireless positioning system for indoor applications. This technique uses fingerprints based on the indoor optical wireless channel impulse response for localization. Exploiting the line of sight…
The main focus of beam alignment is to find the optimal beam which yields the largest received signal strength (RSS) with faster speed.In this paper, we demonstrate an efficient beam alignment scheme with our testbed. The algorithm we…
We seek to predict the 6 degree-of-freedom (6DoF) pose of a query photograph with respect to a large indoor 3D map. The contributions of this work are three-fold. First, we develop a new large-scale visual localization method targeted for…
Camera-based activity monitoring systems are becoming an attractive solution for smart building applications with the advances in computer vision and edge computing technologies. In this paper, we present a feasibility study and systematic…
In this paper, the problem of target localization in the presence of outlying sensors is tackled. This problem is important in practice because in many real-world applications the sensors might report irrelevant data unintentionally or…