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Millimeter-accuracy Ultra-Wideband (UWB) positioning systems using the Time Difference Of Arrival (TDOA) algorithm are able to be utilized in military and many other important applications. Previous research on UWB positioning system has…

Robust and fast motion estimation and mapping is a key prerequisite for autonomous operation of mobile robots. The goal of performing this task solely on a stereo pair of video cameras is highly demanding and bears conflicting objectives:…

To accomplish task efficiently in a multiple robots system, a problem that has to be addressed is Simultaneous Localization and Mapping (SLAM). LiDAR (Light Detection and Ranging) has been used for many SLAM solutions due to its superb…

Since space-domain information can be utilized, microphone array beamforming is often used to enhance the quality of the speech by suppressing directional disturbance. However, with the increasing number of microphone, the complexity would…

Combining multiple LiDARs enables a robot to maximize its perceptual awareness of environments and obtain sufficient measurements, which is promising for simultaneous localization and mapping (SLAM). This paper proposes a system to achieve…

Photoacoustic imaging (PAI) is an emerging medical imaging modality capable of providing high spatial resolution of Ultrasound (US) imaging and high contrast of optical imaging. Delay-and-Sum (DAS) is the most common beamforming algorithm…

Microphone array post-filters have demonstrated their ability to greatly reduce noise at the output of a beamformer. However, current techniques only consider a single source of interest, most of the time assuming stationary background…

To execute collaborative tasks in unknown environments, a robotic swarm needs to establish a global reference frame and locate itself in a shared understanding of the environment. However, it faces many challenges in real-world scenarios,…

The following paper presents an adaptive anchor pairs selection method for ultra-wideband (UWB) Time Difference of Arrival (TDOA) based positioning systems. The method divides the area covered by the system into several zones and assigns…

In this paper, a sparse-based method for the estimation of the parameters of multidimensional ($R$-D) modal (harmonic or damped) complex signals in noise is presented. The problem is formulated as $R$ simultaneous sparse approximations of…

In this paper, we propose a tightly-coupled, multi-modal simultaneous localization and mapping (SLAM) framework, integrating an extensive set of sensors: IMU, cameras, multiple lidars, and Ultra-wideband (UWB) range measurements, hence…

This paper introduces a novel methodology leveraging differentiable programming to design efficient, constrained adaptive non-uniform Linear Differential Microphone Arrays (LDMAs) with reduced implementation costs. Utilizing an automatic…

Audio-to-score alignment aims at generating an accurate mapping between a performance audio and the score of a given piece. Standard alignment methods are based on Dynamic Time Warping (DTW) and employ handcrafted features, which cannot be…

Source localization plays a key role in many applications including radar, wireless and underwater communications. Among various localization methods, the most popular ones are Time-Of-Arrival (TOA), Time-Difference-Of-Arrival (TDOA), and…

Acoustic mapping techniques have long been used in spatial audio processing for direction of arrival estimation (DoAE). Traditional beamforming methods for acoustic mapping, while interpretable, often rely on iterative solvers that can be…

The use of spatial information with multiple microphones can improve far-field automatic speech recognition (ASR) accuracy. However, conventional microphone array techniques degrade speech enhancement performance when there is an array…

This paper studies spatial smoothing using sparse arrays in single-snapshot Direction of Arrival (DOA) estimation. We consider the application of automotive MIMO radar, which traditionally synthesizes a large uniform virtual array by…

Multi-channel acoustic signal processing is a well-established and powerful tool to exploit the spatial diversity between a target signal and non-target or noise sources for signal enhancement. However, the textbook solutions for optimal…

In this paper, the performance of non-uniform spacing of sensors is evaluated for the MUSIC algorithm which estimates the direction of arrival (DOA) of a narrowband plane wave impinging on an array of sensors. Unlike uniform sensor spacing…

In this paper, we present an acoustic localization system for multiple devices. In contrast to systems which localise a device relative to one or several anchor points, we focus on the joint localisation of several devices relative to each…