Related papers: Exploiting Multipath Information for Integrated Lo…
In this paper, we investigate ultra-wideband (UWB) localization and tracking in cluttered environments. Instead of mitigating the multipath, we exploit the specular reflections to enhance the localizability and improve the positioning…
State-of-the-art detection systems are generally evaluated on their ability to exhaustively retrieve objects densely distributed in the image, across a wide variety of appearances and semantic categories. Orthogonal to this, many real-life…
The development of robust, real-time optical methods for the detection and tracking of particles in complex multiple scattering media is a problem of practical importance in a number of fields, including environmental monitoring, air…
Accurate localization can be performed in visible light systems in non-line-of-sight (NLOS) scenarios by utilizing intelligent reflecting surfaces (IRSs), which are commonly in the form of mirror arrays with adjustable orientations. When…
As light travels through a disordered medium such as biological tissues, it undergoes multiple scattering events. This phenomenon is detrimental to in-depth optical microscopy, as it causes a drastic degradation of contrast, resolution and…
A map merging component is crucial for the proper functionality of a multi-robot system performing exploration, since it provides the means to integrate and distribute the most important information carried by the agents: the…
Multipath and non-line-of-sight (NLOS) signals are the major causes of poor accuracy of a global navigation satellite system (GNSS) in urban areas. Despite the wide usage of the GNSS in populated urban areas, it is difficult to suggest a…
Model Predictive Path Integral (MPPI) control is a widely used sampling-based approach for real-time control, valued for its flexibility in handling arbitrary dynamics and cost functions. However, it often suffers from high-frequency noise…
Accurate localization in diverse environments is a fundamental challenge in computer vision and robotics. The task involves determining a sensor's precise position and orientation, typically a camera, within a given space. Traditional…
Reconfigurable Intelligent Surfaces (RIS) show great promise in the realm of 6th generation (6G) wireless systems, particularly in the areas of localization and communication. Their cost-effectiveness and energy efficiency enable the…
Tracking in urban street scenes plays a central role in autonomous systems such as self-driving cars. Most of the current vision-based tracking methods perform tracking in the image domain. Other approaches, eg based on LIDAR and radar,…
Multitarget tracking in the interference environments suffers from the nonuniform, unknown and time-varying clutter, resulting in dramatic performance deterioration. We address this challenge by proposing a robust multitarget tracking…
Probabilistic collision detection (PCD) is essential in motion planning for robots operating in unstructured environments, where considering sensing uncertainty helps prevent damage. Existing PCD methods mainly used simplified geometric…
We present a multi-stage optimization method for efficient sensor deployment in traffic surveillance scenarios. Based on a genetic optimization scheme, our algorithm places an optimal number of roadside sensors to obtain full road coverage…
To navigate reliably in indoor environments, an industrial autonomous vehicle must know its position. However, current indoor vehicle positioning technologies either lack accuracy, usability or are too expensive. Thus, we propose a novel…
Freight vehicles approaching signalized intersections require reliable detection and motion estimation to support infrastructure-based Freight Signal Priority (FSP). Accurate and timely perception of vehicle type, position, and speed is…
Multi-agent path finding (MAPF) involves planning efficient paths for multiple agents to move simultaneously while avoiding collisions. In typical warehouse environments, agents are often sparsely distributed along aisles; however,…
Place Recognition enables the estimation of a globally consistent map and trajectory by providing non-local constraints in Simultaneous Localisation and Mapping (SLAM). This paper presents Locus, a novel place recognition method using 3D…
We consider the problem of sensor localization in a wireless network in a multipath environment, where time and angle of arrival information are available at each sensor. We propose a distributed algorithm based on belief propagation, which…
Multi-target tracking is an important problem in civilian and military applications. This paper investigates multi-target tracking in distributed sensor networks. Data association, which arises particularly in multi-object scenarios, can be…