Related papers: Calibration-Free Gas Source Localization with Mobi…
This article focuses on the use of Geographically Weighted Regression (GWR) method to correct air quality low-cost sensors measurements. Those sensors are of major interest in the current era of high-resolution air quality monitoring at…
Localizing an object accurately with respect to a robot is a key step for autonomous robotic manipulation. In this work, we propose to tackle this task knowing only 3D models of the robot and object in the particular case where the scene is…
Autonomous robots are increasingly deployed to estimate spatiotemporal fields (e.g., wind, temperature, gas concentration) that vary across space and time. We consider environments divided into non-overlapping regions with distinct spatial…
Autonomous robots for gathering information on objects of interest has numerous real-world applications because of they improve efficiency, performance and safety. Realizing autonomy demands online planning algorithms to solve sequential…
The SLAM problem is known to have a special property that when robot orientation is known, estimating the history of robot poses and feature locations can be posed as a standard linear least squares problem. In this work, we develop a SLAM…
Sampling-based motion planning algorithms are widely used in robotics because they are very effective in high-dimensional spaces. However, the success rate and quality of the solutions are determined by an adequate selection of their…
Localization is a critical capability for robots, drones and autonomous vehicles operating in a wide range of environments. One of the critical considerations for designing, training or calibrating visual localization systems is the…
This paper proposes a new 3D gas distribution mapping technique based on the local message passing of Gaussian belief propagation that is capable of resolving in real time, concentration estimates in 3D space whilst accounting for the…
We consider the problem of vision-based 6-DoF object pose estimation in the context of the notional Mars Sample Return campaign, in which a robotic arm would need to localize multiple objects of interest for low-clearance pickup and…
Sound source localization task aims to identify the locations of sound-emitting objects by leveraging correlations between audio and visual modalities. Most existing SSL methods rely on contrastive learning-based feature matching, but lack…
The hearing sense on a mobile robot is important because it is omnidirectional and it does not require direct line-of-sight with the sound source. Such capabilities can nicely complement vision to help localize a person or an interesting…
Air pollution is a major global environmental health threat, in particular for people who live or work near pollution sources. Areas adjacent to pollution sources often have high ambient pollution concentrations, and those areas are…
An efficient method is proposed for refining GPS-acquired location coordinates in urban areas using camera images, Google Street View (GSV) and sensor parameters. The main goal is to compensate for GPS location imprecision in dense area of…
A microphone array can provide a mobile robot with the capability of localizing, tracking and separating distant sound sources in 2D, i.e., estimating their relative elevation and azimuth. To combine acoustic data with visual information in…
Wireless Sensor Networks (WSNs) are composed of nodes that gather metrics like temperature, pollution or pressure from events generated by external entities. Localization in WSNs is paramount, given that the collected metrics must be…
While the satellite-based Global Positioning System (GPS) is adequate for some outdoor applications, many other applications are held back by its multi-meter positioning errors and poor indoor coverage. In this paper, we study the…
The operational environments in which a mobile robot executes its missions often exhibit non-flat terrain characteristics, encompassing outdoor and indoor settings featuring ramps and slopes. In such scenarios, the conventional…
Localisation of a source of a toxic release of biochemical aerosols in the atmosphere is a problem of great importance for public safety. Two main practical difficulties are encountered in this problem: the lack of knowledge of the…
Navigation tasks often cannot be defined in terms of a target, either because global position information is unavailable or unreliable or because target location is not explicitly known a priori. This task is then often defined indirectly…
Conventional speaker localization algorithms, based merely on the received microphone signals, are often sensitive to adverse conditions, such as: high reverberation or low signal to noise ratio (SNR). In some scenarios, e.g. in meeting…