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Visual Simultaneous Localization and Mapping (SLAM) plays a vital role in real-time localization for autonomous systems. However, traditional SLAM methods, which assume a static environment, often suffer from significant localization drift…
Navigation solutions suitable for cases when both autonomous robot's pose (\textit{i.e}., attitude and position) and its environment are unknown are in great demand. Simultaneous Localization and Mapping (SLAM) fulfills this need by…
Existing optimization-based methods for non-rigid registration typically minimize an alignment error metric based on the point-to-point or point-to-plane distance between corresponding point pairs on the source surface and target surface.…
To obtain the initial pressure from the collected data on a planar sensor arrangement in photoacoustic tomography, there exists an exact analytic frequency domain reconstruction formula. An efficient realization of this formula needs to…
This paper introduces a new approach to 3-D position estimation from acceleration data, i.e., a 3-D motion tracking system having a small size and low-cost magnetic and inertial measurement unit (MIMU) composed by both a digital compass and…
In this paper, we propose a bistatic sensing-assisted beam tracking method for simultaneous communication and tracking of user vehicles navigating arbitrary-shaped road trajectories. Prior work on simultaneous communication and tracking…
Existing video stabilization methods often generate visible distortion or require aggressive cropping of frame boundaries, resulting in smaller field of views. In this work, we present a frame synthesis algorithm to achieve full-frame video…
This paper studies the UAV-enabled integrated sensing and communication (ISAC), in which UAVs are dispatched as aerial dual-functional access points (APs) for efficient ISAC. In particular, we consider a scenario with one UAV-AP equipped…
Time-bin encoded photon pairs enable robust, decoherence-resistant transmission through optical fibers for long-distance quantum communication, where phase noise poses a critical limitation to stable operation. Here, we implement an…
Unsupervised anomalous sound detection aims to detect unknown abnormal sounds of machines from normal sounds. However, the state-of-the-art approaches are not always stable and perform dramatically differently even for machines of the same…
To obtain the initial pressure from the collected data on a planar sensor arrangement in Photoacoustic tomography, there exists an exact analytic frequency domain reconstruction formula. An efficient realization of this formula needs to…
We present a sensor misalignment-tolerant AUV navigation method that leverages measurements from an acoustic array and dead reckoned information. Recent studies have demonstrated the potential use of passive acoustic Direction of Arrival…
We present a near real-time solution for 3D reconstruction from aerial images captured by consumer UAVs. Our core idea is to simplify the multi-view stereo problem into a series of two-view stereo matching problems. Our method applies to…
A tracking system that will be used for Augmented Reality (AR) applications has two main requirements: accuracy and frame rate. The first requirement is related to the performance of the pose estimation algorithm and how accurately the…
Driven by applications like Micro Aerial Vehicles (MAVs), driver-less cars, etc, localization solution has become an active research topic in the past decade. In recent years, Ultra Wideband (UWB) emerged as a promising technology because…
Synthetic Aperture Radar (SAR) utilizes the movement of the radar antenna over a specific area of interest to achieve higher spatial resolution imaging. In this paper, we aim to investigate the realization of SAR imaging for a stationary…
Sensor fusion has become a popular topic in robotics. However, conventional fusion methods encounter many difficulties, such as data representation differences, sensor variations, and extrinsic calibration. For example, the calibration…
In this paper, we devise a sparse array design algorithm for adaptive beamforming. Our strategy is based on finding a sparse beamformer weight to maximize the output signal-to-interference-plus-noise ratio (SINR). The proposed method…
Sensor calibration is the fundamental block for a multi-sensor fusion system. This paper presents an accurate and repeatable LiDAR-IMU calibration method (termed LI-Calib), to calibrate the 6-DOF extrinsic transformation between the 3D…
Traditionally the improvement of static magnetic field homogeneity of the magnet in Nuclear Magnetic Resonance (NMR) spectroscopy is performed manually, which has many limitations. However, in recent years a number of automated shimming…