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Simultaneous Localization and Mapping (SLAM) systems are fundamental building blocks for any autonomous robot navigating in unknown environments. The SLAM implementation heavily depends on the sensor modality employed on the mobile…
Compared to regular cameras, Dynamic Vision Sensors or Event Cameras can output compact visual data based on a change in the intensity in each pixel location asynchronously. In this paper, we study the application of current image-based…
We present PRETUS -a Plugin-based Real Time UltraSound software platform for live ultrasound image analysis and operator support. The software is lightweight; functionality is brought in via independent plug-ins that can be arranged in…
Supervised machine learning techniques have shown promising results in code analysis and optimization problems. However, a learning-based solution can be brittle because minor changes in hardware or application workloads -- such as facing a…
Automated proof generation for formal software verification remains largely unresolved despite advances in large language models (LLMs). While LLMs perform well in NLP, vision, and code generation, formal verification still requires…
SLAM is a fundamental capability of unmanned systems, with LiDAR-based SLAM gaining widespread adoption due to its high precision. Current SLAM systems can achieve centimeter-level accuracy within a short period. However, there are still…
We present a real-time semantic mapping approach for mobile vision systems with a 2D to 3D object detection pipeline and rapid data association for generated landmarks. Besides the semantic map enrichment the associated detections are…
Most of the quadrupeds developed are highly actuated, and their control is hence quite cumbersome. They need advanced electronics equipment to solve convoluted inverse kinematic equations continuously. In addition, they demand special and…
Industrial Control Systems (ICSs) are complex interconnected systems used to manage process control within industrial environments, such as chemical processing plants and water treatment facilities. As the modern industrial environment…
Current techniques for post-training Large Language Models (LLMs) rely either on costly human supervision or on external verifiers to boost performance on tasks such as mathematical reasoning and code generation. However, as LLMs improve…
In this work we present more comprehensive evaluations on our airborne Gimbal mounted inertial measurement unit (IMU) signal simulator which also considers flight dynamic model (FDM). A flexible IMU signal simulator is an enabling tool in…
Pattern recognition and machine learning are becoming integral parts of algorithms in a wide range of applications. Different algorithms and approaches for machine learning include different tradeoffs between performance and computation, so…
Most classical SLAM systems rely on the static scene assumption, which limits their applicability in real world scenarios. Recent SLAM frameworks have been proposed to simultaneously track the camera and moving objects. However they are…
The aging and increasing complexity of infrastructures make efficient inspection planning more critical in ensuring safety. Thanks to sampling-based motion planning, many inspection planners are fast. However, they often require huge…
Automated security protocol verifiers such as ProVerif and Tamarin have been increasingly applied to verify large scale complex real-world protocols. While their ability to automate difficult reasoning processes required to handle protocols…
System identification involves constructing mathematical models of dynamic systems using input-output data, enabling analysis and prediction of system behaviour in both time and frequency domains. This approach can model the entire system…
This paper presents Lidar-based Simultaneous Localization and Mapping (SLAM) for autonomous driving vehicles. Fusing data from landmark sensors and a strap-down Inertial Measurement Unit (IMU) in an adaptive Kalman filter (KF) plus the…
Probes are small networks that predict properties of underlying data from embeddings, and they provide a targeted, effective way to illuminate the information contained in embeddings. While analysis through the use of probes has become…
The LIght Detection And Ranging (LiDAR) sensor has become one of the most important perceptual devices due to its important role in simultaneous localization and mapping (SLAM). Existing SLAM methods are mainly developed for mechanical…
Laboratories are prone to severe injuries from minor unsafe actions, yet continuous safety monitoring -- beyond mandatory pre-lab safety training -- is limited by human availability. Vision language models (VLMs) offer promise for…