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Navigation and exploration within unknown environments are typical examples in which simultaneous localization and mapping (SLAM) algorithms are applied. When mobile agents deploy only range sensors without bearing information, the agents…
Landmark localization in images and videos is a classic problem solved in various ways. Nowadays, with deep networks prevailing throughout machine learning, there are revamped interests in pushing facial landmark detection technologies to…
Visual place recognition tasks often encounter significant challenges in landmark detection due to the presence of irrelevant objects such as humans, cars, and trees, despite the remarkable progress achieved by previous models, especially…
In this paper, the problem of target localization in the presence of outlying sensors is tackled. This problem is important in practice because in many real-world applications the sensors might report irrelevant data unintentionally or…
Accurate and robust visual localization under a wide range of viewing condition variations including season and illumination changes, as well as weather and day-night variations, is the key component for many computer vision and robotics…
We address the problem of vehicle self-localization from multi-modal sensor information and a reference map. The map is generated off-line by extracting landmarks from the vehicle's field of view, while the measurements are collected…
This works presents a formulation for visual navigation that unifies map based spatial reasoning and path planning, with landmark based robust plan execution in noisy environments. Our proposed formulation is learned from data and is thus…
Wireless indoor localization using predictive models with received signal strength information (RSSI) requires proper calibration for reliable position estimates. One remedy is to employ synthetic labels produced by a (generally different)…
Compared to LiDAR-based localization methods, which provide high accuracy but rely on expensive sensors, visual localization approaches only require a camera and thus are more cost-effective while their accuracy and reliability typically is…
This paper demonstrates a system comprised of infrared beacons and a camera equipped with an optical band-pass filter. Our system can reliably detect and identify individual beacons at 100m distance regardless of lighting conditions. We…
Agricultural robots are expected to increase yields in a sustainable way and automate precision tasks, such as weeding and plant monitoring. At the same time, they move in a continuously changing, semi-structured field environment, in which…
Many modern simultaneous localization and mapping (SLAM) techniques rely on sparse landmark-based maps due to their real-time performance. However, these techniques frequently assert that these landmarks are fixed in position over time,…
In this work, we develop and compare two innovative strategies for parameter estimation and radar detection of multiple point-like targets. The first strategy, which appears here for the first time, jointly exploits the maximum likelihood…
Rather than having each newly deployed robot create its own map of its surroundings, the growing availability of SLAM-enabled devices provides the option of simply localizing in a map of another robot or device. In cases such as multi-robot…
Cephalometric analysis has an important role in dentistry and especially in orthodontics as a treatment planning tool to gauge the size and special relationships of the teeth, jaws and cranium. The first step of using such analyses is…
This paper presents a framework addressing the challenge of global localization in autonomous mobile robotics by integrating LiDAR-based descriptors and Wi-Fi fingerprinting in a pre-mapped environment. This is motivated by the increasing…
LADARs mounted on mobile platforms produce a wealth of precise range data on the surrounding objects and vehicles. The challenge we address is to infer from these raw LADAR data the location and orientation of nearby vehicles. We propose a…
An essential problem of swarm robotics is how members of the swarm knows the positions of other robots. The main aim of this research is to develop a cost-effective and simple vision-based system to detect the range, bearing, and heading of…
An unknown-position sensor can be localized if there are three or more anchors making time-of-arrival (TOA) measurements of a signal from it. However, the location errors can be very large due to the fact that some of the measurements are…
This paper presents Vision-Language Global Localization (VLG-Loc), a novel global localization method that uses human-readable labeled footprint maps containing only names and areas of distinctive visual landmarks in an environment. While…