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In this paper, we propose a pipeline for multi-target visual tracking under multi-camera system. For multi-camera system tracking problem, efficient data association across cameras, and at the same time, across frames becomes more important…
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…
The Visibility-based Persistent Monitoring (VPM) problem seeks to find a set of trajectories (or controllers) for robots to persistently monitor a changing environment. Each robot has a sensor, such as a camera, with a limited field-of-view…
Navigation and localization of UAVs present a challenge when global navigation satellite systems (GNSS) are disrupted and unreliable. Traditional techniques, such as simultaneous localization and mapping (SLAM) and visual odometry (VO),…
With the development of smart cities, the demand for continuous pedestrian navigation in large-scale urban environments has significantly increased. While global navigation satellite systems (GNSS) provide low-cost and reliable positioning…
Learning to localize objects with minimal supervision is an important problem in computer vision, since large fully annotated datasets are extremely costly to obtain. In this paper, we propose a new method that achieves this goal with only…
The amount of texture can be rich or deficient depending on the objects and the structures of the building. The conventional mono visual-initial navigation system (VINS)-based localization techniques perform well in environments where…
Existing visual localization methods are typically either 2D image-based, which are easy to build and maintain but limited in effective geometric reasoning, or 3D structure-based, which achieve high accuracy but require a centralized…
A central problem of surveillance is to monitor multiple targets moving in a large-scale, obstacle-ridden environment with occlusions. This paper presents a novel principled Partially Observable Markov Decision Process-based approach to…
With the capability of reconfiguring the wireless electromagnetic environment, intelligent reflecting surface (IRS) is a new paradigm for designing future wireless communication systems. In this paper, we consider optical IRS for improving…
This paper addresses target localization using a multistatic multiple-input multiple-output (MIMO) radar system with coprime L-shaped receive arrays (CLsA). A target localization method is proposed by modeling the observed signals as…
Vision multi-layer perceptrons (MLPs) have shown promising performance in computer vision tasks, and become the main competitor of CNNs and vision Transformers. They use token-mixing layers to capture cross-token interactions, as opposed to…
We propose a novel iterative method for optimally placing and orienting multiple cameras in a 3D scene. Sample applications include improving the accuracy of 3D reconstruction, maximizing the covered area for surveillance, or improving the…
This paper presents a hybrid real-time camera pose estimation framework with a novel partitioning scheme and introduces motion averaging to monocular Simultaneous Localization and Mapping (SLAM) systems. Breaking through the limitations of…
Traditional visible light positioning (VLP) systems estimate receivers' coordinates based on the known light-emitting diode (LED) coordinates. However, the LED coordinates are not always known accurately. Because of the structural changes…
Camera viewpoint selection is an important aspect of visual grasp detection, especially in clutter where many occlusions are present. Where other approaches use a static camera position or fixed data collection routines, our Multi-View…
Multi-Agent Path Finding (MAPF) is an NP-hard problem with applications in warehouse automation and multi-robot coordination. Learning-based MAPF solvers offer fast and scalable planning but often produce feasible trajectories that contain…
This technical report introduces CyberLoc, an image-based visual localization pipeline for robust and accurate long-term pose estimation under challenging conditions. The proposed method comprises four modules connected in a sequence.…
The many-light formulation provides a general framework for rendering various illumination effects using hundreds of thousands of virtual point lights (VPLs). To efficiently gather the contributions of the VPLs, lightcuts and its extensions…
This paper proposes a new hybrid algorithm for sampling virtual point light (VPL). The indirect lighting calculation of the scene is used to distribute the VPL reasonably. In the process of generating VPL, we divide the scene into two parts…