Related papers: A New Statistical Approach to the Performance Anal…
Visual localization is of great importance in robotics and computer vision. Recently, scene coordinate regression based methods have shown good performance in visual localization in small static scenes. However, it still estimates camera…
We consider the visual feature selection to improve the estimation quality required for the accurate navigation of a robot. We build upon a key property that asserts: contributions of trackable features (landmarks) appear linearly in the…
Location retrieval based on visual information is to retrieve the location of an agent (e.g. human, robot) or the area they see by comparing the observations with a certain form of representation of the environment. Existing methods…
Camera localization methods based on retrieval, local feature matching, and 3D structure-based pose estimation are accurate but require high storage, are slow, and are not privacy-preserving. A method based on scene landmark detection (SLD)…
In this paper, a cooperative localization algorithm is proposed that considers the existence of obstacles in mobilityassisted wireless sensor networks (WSNs). In this scheme, a mobile anchor (MA) node cooperates with static sensor nodes and…
This paper describes a multi-modal data association method for global localization using object-based maps and camera images. In global localization, or relocalization, using object-based maps, existing methods typically resort to matching…
Visible light positioning (VLP) technology is a promising technique as it can provide high accuracy positioning based on the existing lighting infrastructure. However, existing approaches often require dense lighting distributions.…
We introduce a novel technique and an associated high resolution dataset that aims to precisely evaluate wireless signal based indoor positioning algorithms. The technique implements an augmented reality (AR) based positioning system that…
Localization defines a term to describe the identifying process of a location within the space of two-dimensional (2D) space or three-dimensional (3D). A localization scheme is an important concern for connecting sensor nodes in remote…
Many robotics applications require precise pose estimates despite operating in large and changing environments. This can be addressed by visual localization, using a pre-computed 3D model of the surroundings. The pose estimation then…
Vision is one of the most important of the senses, and humans use it extensively during navigation. We evaluated different types of image and video frame descriptors that could be used to determine distinctive visual landmarks for…
Landmark detection algorithms trained on high resolution images perform poorly on datasets containing low resolution images. This deters the performance of algorithms relying on quality landmarks, for example, face recognition. To the best…
Accurate wireless localization underpins applications from autonomous systems to smart infrastructure. We study the mean-squared error (MSE) and conditional MSE (CMSE) of a practical fusion-based estimator in d-dimensional, stationary…
This paper addresses the challenges of optimally placing a finite number of sensors to detect Poisson-distributed targets in a bounded domain. We seek to rigorously account for uncertainty in the target arrival model throughout the problem.…
An optimization method is proposed in this paper for novel deployment of given number of directional landmarks (location and pose) within a given region in the 3-D task space. This new deployment technique is built on the geometric models…
We present a novel boundary-aware face alignment algorithm by utilising boundary lines as the geometric structure of a human face to help facial landmark localisation. Unlike the conventional heatmap based method and regression based…
We study set-valued decision rules in which performance is defined by the inclusion of the top-$p$ hypotheses, rather than only the single best or true hypothesis. This criterion is motivated by sensor selection for target tracking, where…
For a group of cooperating UAVs, localizing each other is often a key task. This paper studies the localization problem for a group of UAVs flying in 3D space with very limited information, i.e., when noisy distance measurements are the…
Cardiac Magnetic Resonance (CMR) images are widely used for cardiac diagnosis and ventricular assessment. Extracting specific landmarks like the right ventricular insertion points is of importance for spatial alignment and 3D modeling. The…
Establishing bounds on the accuracy achievable by localization techniques represents a fundamental technical issue. Bounds on localization accuracy have been derived for cases in which the position of an agent is estimated on the basis of a…