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Visual Odometry (VO) and SLAM are fundamental components for spatial perception in mobile robots. Despite enormous progress in the field, current VO/SLAM systems are limited by their sensors' capability. Event cameras are novel visual…

A two-way time-of-arrival (TOA system is composed of anchor nodes (ANs and user devices (UDs . Two-way TOA measurements between AN-UD pairs are obtained via round-trip communications to achieve localization and synchronization (LAS for a…

Time Difference of Arrival (TDOA) is widely used in wireless localization systems. Among the enormous approaches of TDOA, high resolution TDOA algorithms have drawn much attention for its ability to resolve closely spaced signal delays in…

In this paper, we propose to simultaneously estimate all the sampling rate offsets (SROs) of multiple devices. In a distributed microphone array, the SRO is inevitable, which deteriorates the performance of array signal processing. Most of…

In this paper, a positioning technique based on Time Difference of Arrival (TDoA) measurements is analyzed. The proposed approach is designed to consent range and position estimation, using ultrasound transmissions of a stream of chirp…

In this paper, we focus on the problem of blind joint calibration of multiband transceivers and time-delay (TD) estimation of multipath channels. We show that this problem can be formulated as a particular case of covariance matching.…

This work proposes a novel SLAM framework for stereo and visual inertial odometry estimation. It builds an efficient and robust parametrization of co-planar points and lines which leverages specific geometric constraints to improve camera…

This paper presents a novel time synchronization attack (TSA) model for the Global Positioning System (GPS) based on clock data behavior changes in a higher-order derivative domain. Further, the time synchronization attack rejection and…

In this article we analyze the state-of-the-art in multilateration - the family of localization methods enabled by the range difference observations. These methods are computationally efficient, signal-independent, and flexible with regards…

Accurately estimating the direction-of-arrival (DOA) of a speech source using a compact microphone array (CMA) is often complicated by background noise and reverberation. A commonly used DOA estimation method is the steered response power…

In this thesis, we propose an artificial auditory system that gives a robot the ability to locate and track sounds, as well as to separate simultaneous sound sources and recognising simultaneous speech. We demonstrate that it is possible to…

SLAM is a fundamental component of modern autonomous systems, providing robots and their operators with a deeper understanding of their environment. SLAM systems often encounter challenges due to the dynamic nature of robotic motion,…

Partially spoofed audio detection is a challenging task, lying in the need to accurately locate the authenticity of audio at the frame level. To address this issue, we propose a fine-grained partially spoofed audio detection method, namely…

Voice Activity Detection (VAD) and Overlapped Speech Detection (OSD) are key pre-processing tasks for speaker diarization. In the meeting context, it is often easier to capture speech with a distant device. This consideration however leads…

LiDAR SLAM has become one of the major localization systems for ground vehicles since LiDAR Odometry And Mapping (LOAM). Many extension works on LOAM mainly leverage one specific constraint to improve the performance, e.g., information from…

This paper addresses the challenges of wideband signal beamforming in radar systems and proposes a new calibration method. Due to operating conditions, the frequency dependent characteristics of the system can be changed, and amplitude,…

Simultaneous Localization and Mapping (SLAM) enables autonomous robots to navigate and execute their tasks through unknown environments. However, performing SLAM in large environments with a single robot is not efficient, and visual or…

Deep learning-based Visual SLAM (vSLAM) systems exhibit exceptional geometric reasoning capabilities, yet their prohibitive computational overhead severely restricts deployment on resource-constrained autonomous platforms. This paper…

This paper proposes a novel visual simultaneous localization and mapping (SLAM) system called Hybrid Depth-augmented Panoramic Visual SLAM (HDPV-SLAM), that employs a panoramic camera and a tilted multi-beam LiDAR scanner to generate…

This paper proposes a framework of explaining anomalous machine sounds in the context of anomalous sound detection~(ASD). While ASD has been extensively explored, identifying how anomalous sounds differ from normal sounds is also beneficial…