Related papers: Set-Membership Localization via Range Measurements
We geometrically analyze the problem of estimating parameters related to the shape and size of a two-dimensional target object on the plane by using randomly distributed distance sensors whose locations are unknown. Based on the analysis…
In this paper, the problem of target localization in the presence of outlying sensors is tackled. This problem is important in practice because in many real-world applications the sensors might report irrelevant data unintentionally or…
We present a learning approach for localization and segmentation of objects in an image in a manner that is robust to partial occlusion. Our algorithm produces a bounding box around the full extent of the object and labels pixels in the…
Whisker-like touch sensors offer unique advantages for short-range perception in environments where visual and long-range sensing are unreliable, such as confined, cluttered, or low-visibility settings. This paper presents a framework for…
We propose a general self-supervised learning approach for spatial perception tasks, such as estimating the pose of an object relative to the robot, from onboard sensor readings. The model is learned from training episodes, by relying on: a…
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…
Mobile robots that navigate in unknown environments need to be constantly aware of the dynamic objects in their surroundings for mapping, localization, and planning. It is key to reason about moving objects in the current observation and at…
We study the sample complexity of stochastic convex optimization when problem parameters, e.g., the distance to optimality, are unknown. We pursue two strategies. First, we develop a reliable model selection method that avoids overfitting…
Recent literature has shown that symbolic data, such as text and graphs, is often better represented by points on a curved manifold, rather than in Euclidean space. However, geometrical operations on manifolds are generally more complicated…
Globally localizing a mobile robot in a known map is often a foundation for enabling robots to navigate and operate autonomously. In indoor environments, traditional Monte Carlo localization based on occupancy grid maps is considered the…
Considering a finite intersection of balls and a finite union of other balls in an Euclidean space, we propose an exact method to test whether the intersection is covered by the union. We reformulate this problem into quadratic programming…
We propose a new embedding method which is particularly well-suited for settings where the sample size greatly exceeds the ambient dimension. Our technique consists of partitioning the space into simplices and then embedding the data points…
The distance metric plays an important role in nearest neighbor (NN) classification. Usually the Euclidean distance metric is assumed or a Mahalanobis distance metric is optimized to improve the NN performance. In this paper, we study the…
$3$D structure recovery from a collection of $2$D images requires the estimation of the camera locations and orientations, i.e. the camera motion. For large, irregular collections of images, existing methods for the location estimation…
The problem of minimizing a continuously differentiable convex function over an intersection of closed convex sets is ubiquitous in applied mathematics. It is particularly interesting when it is easy to project onto each separate set, but…
We describe a framework in which is possible to develop and implement algorithms for the approximation of invariant measures of dynamical systems with a given bound on the error of the approximation. Our approach is based on a general…
In this paper, we propose a method for initial camera pose estimation from just a single image which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment…
We describe a new method called t-ETE for finding a low-dimensional embedding of a set of objects in Euclidean space. We formulate the embedding problem as a joint ranking problem over a set of triplets, where each triplet captures the…
We propose a vision-based method that localizes a ground vehicle using publicly available satellite imagery as the only prior knowledge of the environment. Our approach takes as input a sequence of ground-level images acquired by the…
We consider the sound ranging, or source localization, problem - find the source-point from the moments when the wave-sphere of linearly, with time, increasing radius reaches the sensor-points - in the proper metric spaces (any closed ball…