Related papers: Semi-Supervised Novelty Detection for Precise Ultr…
Mobile autonomous systems, robots, and cyber-physical systems rely on accurate positioning information. To conduct distance-measurement, two devices exchange signals and, knowing these signals propagate at the speed of light, the time of…
Ultra-wideband (UWB) has shown promising potential in GPS-denied localization thanks to its lightweight and drift-free characteristics, while the accuracy is limited in real scenarios due to its sensitivity to sensor arrangement and…
This paper presents Range-SLAM, a real-time, lightweight SLAM system designed to address the challenges of localization and mapping in environments with smoke and other harsh conditions using Ultra-Wideband (UWB) signals. While optical…
In this work, we propose a factor graph optimization (FGO) framework to simultaneously solve the calibration problem for Ultra-WideBand (UWB) anchors and the robot localization problem. Calibrating UWB anchors manually can be time-consuming…
Relative localization in the near-field scenario is critically important for unmanned vehicle (UxV) applications. Although related works addressing 2D relative localization problem have been widely studied for unmanned ground vehicles…
We propose a novel concurrent ranging technique for distance estimation with ultra-wideband (UWB) radios. Conventional schemes assume that the necessary packet exchanges occur in isolation, to avoid collisions. Concurrent ranging relies on…
Semi-supervised learning aims to leverage a large amount of unlabeled data for performance boosting. Existing works primarily focus on image classification. In this paper, we delve into semi-supervised learning for object detection, where…
Visual place recognition techniques based on deep learning, which have imposed themselves as the state-of-the-art in recent years, do not generalize well to environments visually different from the training set. Thus, to achieve top…
Advanced real-time location systems (RTLS) allow for collecting spatio-temporal data from human movement behaviours. Tracking individuals in small areas such as schoolyards or nursing homes might impose difficulties for RTLS in terms of…
In this paper, an Ultra-Wideband (UWB) positioning system is introduced, that leverages six identical custom-designed boards, each featuring an ESP32 microcontroller and a DWM3000 module from Quorvo. The system is capable of achieving…
We consider the problem of localization and distance estimation between a pair of wireless nodes in a multipath propagation environment, but not the usual way of processing a channel measurement between them. We propose a novel paradigm…
Current approaches to novelty or anomaly detection are based on deep neural networks. Despite their effectiveness, neural networks are also vulnerable to imperceptible deformations of the input data. This is a serious issue in critical…
Weakly-supervised learning approaches have gained significant attention due to their ability to reduce the effort required for human annotations in training neural networks. This paper investigates a framework for weakly-supervised object…
It is essential that a robot has the ability to determine its position and orientation to execute tasks autonomously. Heading estimation is especially challenging in indoor environments where magnetic distortions make magnetometer-based…
Guided ultrasonic wave localization uses spatially distributed multistatic sensor arrays and generalized beamforming strategies to detect and locate damage across a structure. The propagation channel is often very complex. Methods can…
Open-World Object Detection (OWOD) extends object detection problem to a realistic and dynamic scenario, where a detection model is required to be capable of detecting both known and unknown objects and incrementally learning newly…
Deep neural networks often predict samples with high confidence even when they come from unseen classes and should instead be flagged for expert evaluation. Current novelty detection algorithms cannot reliably identify such near OOD points…
UWB has recently gained new attention as an auxiliary sensor in the field of robot localization due to its compactness and ease of distance measurement. Consequently, various UWB-related localization and dataset research have increased.…
Machine learning techniques have shown remarkable accuracy in localization tasks, but their dependency on vast amounts of labeled data, particularly Channel State Information (CSI) and corresponding coordinates, remains a bottleneck.…
In this paper, a novel framework is proposed for channel charting (CC)-aided localization in millimeter wave networks. In particular, a convolutional autoencoder model is proposed to estimate the three-dimensional location of wireless user…