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We implemented a system able to locate people indoor, with the purpose of providing assistive services. Such approach is particularly important for the Art, for providing information on exhibitions, art galleries and museums, and to allow…
In this paper, we propose a novel high dimensional constellation design scheme for visible light communication (VLC) systems employing red/green/blue light emitting diodes (RGB LEDs). It is in fact a generalized color shift keying (CSK)…
We present a method of improving visual place recognition and metric localisation under very strong appear- ance change. We learn an invertable generator that can trans- form the conditions of images, e.g. from day to night, summer to…
If a robot is supposed to roam an environment and interact with objects, it is often necessary to know all possible objects in advance, so that a database with models of all objects can be generated for visual identification. However, this…
This paper aims to improve the performance and positioning accuracy of a robot by using the particle filter method. The laser range information is a wireless navigation system mainly used to measure, position, and control autonomous robots.…
State-of-the-art deep neural network recognition systems are designed for a static and closed world. It is usually assumed that the distribution at test time will be the same as the distribution during training. As a result, classifiers are…
Autonomous agents such as cars, robots and drones need to precisely localize themselves in diverse environments, including in GPS-denied indoor environments. One approach for precise localization is visual place recognition (VPR), which…
Recently, the spatial modulation (SM) technique has been proposed for visible light communication (VLC). This paper investigates the average symbol error rate (SER) for the VLC using adaptive spatial modulation (ASM). In the system, the…
We propose a novel external indoor positioning system that computes the position and orientation of multiple model-scale vehicles. For this purpose, we use a camera mounted at a height of 3.3m and LEDs attached to each vehicle. We reach an…
The increasing adoption of human-robot interaction presents opportunities for technology to positively impact lives, particularly those with visual impairments, through applications such as guide-dog-like assistive robotics. We present a…
In this manuscript, distance and position estimation problems are investigated for visible light positioning (VLP) systems with red-green-blue (RGB) light emitting diodes (LEDs). The accuracy limits on distance and position estimation are…
Localization is expected to play a significant role in future wireless networks as positioning and situational awareness, navigation and tracking, are integral parts of 6G usage scenarios. Nevertheless, in many cases localization requires…
Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…
In this paper, we study a multi-user visible light communication (VLC) system assisted with optical reflecting intelligent surface (ORIS). Joint precoding and alignment matrices are designed to maximize the average signal-to-interference…
This paper centers around a multiple-input-multiple-output (MIMO) visible light communication (VLC) system, where an unmanned aerial vehicle (UAV) benefits from a light emitting diode (LED) array to serve photo-diode (PD)-equipped users for…
We report a positioning method for transparent targets with an accuracy of \SI{2}{\mu m} for a compact laser proton accelerator. The positioning system consists of two light-emitting diodes (LED), a long working distance objective and two…
Outdoor visual localization is a crucial component to many computer vision systems. We propose an approach to localization from images that is designed to explicitly handle the strong variations in appearance happening between daytime and…
Visible light communication (VLC) based localization is a potential candidate for wide range indoor localization applications. In this paper, we propose a VLC architecture based on orthogonal frequency division multiplexing (OFDM) with…
Many optical measurement techniques, such as light scattering from wavelength-scale particles or detecting motion from a surface with an optical lever, encode information in a complex radiation pattern. Extracting all available information…
Accurate location information is indispensable for the emerging applications of \ac{iov}, such as automatic driving and formation control. In the real scenario, vision-based localization has demonstrated superior performance to other…