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We propose a novel approach for fast and accurate stereo visual Simultaneous Localization and Mapping (SLAM) independent of feature detection and matching. We extend monocular Direct Sparse Odometry (DSO) to a stereo system by optimizing…
Direction-of-arrival estimation of multiple speakers in a room is an important task for a wide range of applications. In particular, challenging environments with moving speakers, reverberation and noise, lead to significant performance…
We present a novel particle filtering algorithm for tracking a moving sound source using a microphone array. If there are N microphones in the array, we track all $N \choose 2$ delays with a single particle filter over time. Since it is…
Underwater environments pose significant challenges for visual Simultaneous Localization and Mapping (SLAM) systems due to limited visibility, inadequate illumination, and sporadic loss of structural features in images. Addressing these…
Channel measurements in MIMO systems hinge on precise synchronization. While methods for time and frequency synchronization are well established, maintaining real-time phase coherence remains an open requirement for many MIMO systems. Phase…
Performing simultaneous localization and mapping (SLAM) in low-visibility conditions, such as environments filled with smoke, dust and transparent objets, has long been a challenging task. Sensors like cameras and Light Detection and…
An important aspect of a humanoid robot is audition. Previous work has presented robot systems capable of sound localization and source segregation based on microphone arrays with various configurations. However, no theoretical framework…
In this paper, we focus on the localization of a passive source from time difference of arrival (TDOA) measurements. TDOA values are computed with respect to pairs of fixed sensors that are required to be accurately time-synchronized. This…
In Global Navigation Satellite System (GNSS)-denied environments, terrestrial signals of opportunity (SoOP) offer an alternative for positioning, but synchronization impairments such as clock offsets, drift, and multipath limit performance.…
Massive multiple input multiple output (MIMO) antenna arrays eventuate a huge amount of circuit costs and computational complexity. To satisfy the needs of high precision and low cost in future green wireless communication, the conventional…
This paper proposes sound event localization and detection methods from multichannel recording. The proposed system is based on two Convolutional Recurrent Neural Networks (CRNNs) to perform sound event detection (SED) and time difference…
Simultaneous Localization and Mapping (SLAM) is an essential capability for autonomous robots, but due to high data rates of 3D LiDARs real-time SLAM is challenging. We propose a real-time method for 6D LiDAR odometry. Our approach combines…
Time-division multiplexed (TDM) channel sounders, in which a single RF chain is connected sequentially via an electronic switch to different elements of an array, are widely used for the measurement of double-directional/MIMO propagation…
In this paper, the concept of an adaptation algorithm is proposed, which can be used to blindly adapt the microphone array geometry of a humanoid robot such that the performance of the underlying signal separation algorithm is improved. As…
While deep-learning-based speaker localization has shown advantages in challenging acoustic environments, it often yields only direction-of-arrival (DOA) cues rather than precise two-dimensional (2D) coordinates. To address this, we propose…
The auditory system of humanoid robots has gained increased attention in recent years. This system typically acquires the surrounding sound field by means of a microphone array. Signals acquired by the array are then processed using various…
Speaker localization for binaural microphone arrays has been widely studied for applications such as speech communication, video conferencing, and robot audition. Many methods developed for this task, including the direct path dominance…
Onboard simultaneous localization and mapping (SLAM) methods are commonly used to provide accurate localization information for autonomous robots. However, the coordinate origin of SLAM estimate often resets for each run. On the other hand,…
Communication performance and channel estimation accuracy in MIMO systems are known to be limited by hardware impairments. Specifically, the presence of phase impairments, such as phase noise, makes real-time coherent transmission a…
Given an unknown audio source, the estimation of time differences-of-arrivals (TDOAs) can be efficiently and robustly solved using blind channel identification and exploiting the cross-correlation identity (CCI). Prior "blind" works have…