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Visual localization is a fundamental task that regresses the 6 Degree Of Freedom (6DoF) poses with image features in order to serve the high precision localization requests in many robotics applications. Degenerate conditions like motion…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…
This paper introduces a novel physics-informed impact identification (Phy-ID) framework. The proposed method integrates observational, inductive, and learning biases to combine physical knowledge with data-driven inference in a unified…
The rapid growth of the low-altitude economy has intensified safety concerns arising from unauthorized unmanned aerial vehicles (UAVs), positioning UAV supervision as a key use case in 3GPP. To precisely sense such UAVs with wide coverage…
Visual Simultaneous Localization and Mapping (SLAM) plays a crucial role in autonomous systems. Traditional SLAM methods, based on static environment assumptions, struggle to handle complex dynamic environments. Recent dynamic SLAM systems…
By learning human motion priors, motion capture can be achieved by 6 inertial measurement units (IMUs) in recent years with the development of deep learning techniques, even though the sensor inputs are sparse and noisy. However, human…
Lifting is a common manual material handling task performed in the workplaces. It is considered as one of the main risk factors for Work-related Musculoskeletal Disorders. To improve work place safety, it is necessary to assess…
This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement Unit (IMU) providing body-frame measurements of the angular…
Despite significant advancements in wireless smart implants over the last two decades, current implantable devices still operate passively and require additional electronic modules for wireless transmission of the stored biological data. To…
Low-back pain (LBP) is a widespread disease which can also be highly disabling, but physicians lack of basic understanding and diagnosis tools. During this study, we have designed and built a new wearable device capable of detecting…
Wireless powered backscatter communications is an attractive technology for next-generation low-powered sensor networks such as the Internet of Things. However, backscattering suffers from collisions due to multiple simultaneous…
Retrieving rich contact information from robotic tactile sensing has been a challenging, yet significant task for the effective perception of object properties that the robot interacts with. This work is dedicated to developing an algorithm…
Autonomous detection of lane markers improves road safety, and purely visual tracking is desirable for widespread vehicle compatibility and reducing sensor intrusion, cost, and energy consumption. However, visual approaches are often…
A wide range of user perception applications leverage inertial measurement unit (IMU) data for online prediction. However, restricted by the non-i.i.d. nature of IMU data collected from mobile devices, most systems work well only in a…
This work describes the implementation of a simple and computationally efficient Intelligent Navigation System (INS) for autonomous systems used in areas where human access is impossible. The system uses Laser Range Finder (LRF) readings as…
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…
Safety is paramount for mobile robotic platforms such as self-driving cars and unmanned aerial vehicles. This work is devoted to a task that is indispensable for safety yet was largely overlooked in the past -- detecting obstacles that are…
Road terrains play a crucial role in ensuring the driving safety of autonomous vehicles (AVs). However, existing sensors of AVs, including cameras and Lidars, are susceptible to variations in lighting and weather conditions, making it…
Being accurate, efficient, and compact is essential to a facial landmark detector for practical use. To simultaneously consider the three concerns, this paper investigates a neat model with promising detection accuracy under wild…
On-board sensors of autonomous vehicles can be obstructed, occluded, or limited by restricted fields of view, complicating downstream driving decisions. Intelligent roadside infrastructure perception systems, installed at elevated vantage…