Related papers: Localization from Pseudoranges: Quadrics and Duali…
LiDAR-based global localization is a fundamental problem for mobile robots. It consists of two stages, place recognition and pose estimation, which yields the current orientation and translation, using only the current scan as query and a…
We study the problem of sensor placement in environments in which localization is a necessity, such as ad-hoc wireless sensor networks that allow the placement of a few anchors that know their location or sensor arrays that are tracking a…
Navigation signs and maps, such as floor plans and street maps, are widely available and serve as ubiquitous aids for way-finding in human environments. Yet, they are rarely used by robot systems. This paper presents SignLoc, a global…
We investigate local and global properties of timelike geodesics in three static spherically symmetric spacetimes. These properties are of its own mathematical relevance and provide a solution of the physical `twin paradox' problem. The…
In a time-of-arrival (TOA) or pseudorange based positioning system, user location is obtained by observing multiple anchor nodes (AN) at known positions. Utilizing more than one positioning systems, e.g., combining Global Positioning System…
We consider the design of a positioning system where a robot determines its position from local observations. This is a well-studied problem of considerable practical importance and mathematical interest. The dominant paradigm derives from…
Relocalization is a fundamental task in the field of robotics and computer vision. There is considerable work in the field of deep camera relocalization, which directly estimates poses from raw images. However, learning-based methods have…
The objective of this study is improving the location estimate of a mobile robot capable of motion on a plane and mounted with a conventional 2D LIDAR sensor, given an initial guess for its location on a 2D map of its surroundings.…
A cornerstone of geometric reconstruction, rotation averaging seeks the set of absolute rotations that optimally explains a set of measured relative orientations between them. In addition to being an integral part of bundle adjustment and…
We study the set of all pseudoline arrangements with contact points which cover a given support. We define a natural notion of flip between these arrangements and study the graph of these flips. In particular, we provide an enumeration…
The well-studied DISPERSION problem is a fundamental coordination problem in distributed robotics, where a set of mobile robots must relocate so that each occupies a distinct node of a network. DISPERSION assumes that a robot can settle at…
The physical position is crucial in location-aware services or protocols based on geographic information, where localization is performed given a set of sensor measurements for acquiring the position of an object with respect to a certain…
Accurate camera pose estimation is a fundamental requirement for numerous applications, such as autonomous driving, mobile robotics, and augmented reality. In this work, we address the problem of estimating the global 6 DoF camera pose from…
We consider a distributed system of n identical mobile robots operating in the two dimensional Euclidian plane. As in the previous studies, we consider the robots to be anonymous, oblivious, dis-oriented, and without any communication…
One of the strategies to detect the pose and shape of unknown objects is their geometric modeling, consisting on fitting known geometric entities. Classical geometric modeling fits simple shapes such as spheres or cylinders, but often those…
Recently the authors have explored new concepts of plurisubharmonicity and pseudoconvexity, with much of the attendant analysis, in the context of calibrated manifolds. Here a much broader extension is made. This development covers a wide…
We study the network localization problem, i.e., the problem of determining node positions of a wireless sensor network modeled as a unit disk graph. In an arbitrarily deployed network, positions of all nodes of the network may not be…
The source localization problem, fundamental to applications like GPS, is typically approached as a minimization problem in the presence of various types of noise. Ensuring the uniqueness of solutions in GPS technology is vital for the…
A relativistic positioning system is a physical realization of a coordinate system consisting in four clocks in arbitrary motion broadcasting their proper times. The basic elements of the relativistic positioning systems are presented in…
Robots are often required to localize in environments with unknown object classes and semantic ambiguity. However, when performing global localization using semantic objects, high semantic ambiguity intensifies object misclassification and…