相关论文: Modeling a Sensor to Improve its Efficacy

Fitting a simplifying model with several parameters to real data of complex objects is a highly nontrivial task, but enables the possibility to get insights into the objects physics. Here, we present a method to infer the parameters of the…

Walking controllers often require parametrization which must be tuned according to some cost function. To estimate these parameters, simulations can be performed which are cheap but do not fully represent reality. Real-robot experiments, on…

We consider the problem of how to improve automatic target recognition by fusing the naive sensor-level classification decisions with "intuition," or context, in a mathematically principled way. This is a general approach that is compatible…

Determining the best model or models for a particular data set, a process known as Bayesian model comparison, is a critical part of probabilistic inference. Typically, this process assumes a fixed model-space (that is, a fixed set of…

With the increased interest in machine learning and big data problems, the need for large amounts of labelled data has also grown. However, it is often infeasible to get experts to label all of this data, which leads many practitioners to…

This paper presents an efficient approach for building occupancy modeling to reduce energy consumption. In this work, a novel approach to occupancy modeling based on the posture and comfort level of the occupant is developed, and…

This paper introduces a Bayesian framework to detect multiple signals embedded in noisy observations from a sensor array. For various states of knowledge on the communication channel and the noise at the receiving sensors, a marginalization…

People spend a significant amount of time in indoor spaces (e.g., office buildings, subway systems, etc.) in their daily lives. Therefore, it is important to develop efficient indoor spatial query algorithms for supporting various…

Sensor configuration, including the sensor selections and their installation locations, serves a crucial role in autonomous driving. A well-designed sensor configuration significantly improves the performance upper bound of the perception…

This paper presents a method for identifying mechanical parameters of robots or objects, such as their mass and friction coefficients. Key features are the use of off-the-shelf physics engines and the adaptation of a Bayesian optimization…

Being aware of our body has great importance in our everyday life. This is the reason why we know how to move in a dark room or to grasp a complex object. These skills are important for robots as well, however, robotic bodily awareness is…

Robot introspection, as opposed to anomaly detection typical in process monitoring, helps a robot understand what it is doing at all times. A robot should be able to identify its actions not only when failure or novelty occurs, but also as…

Reinforcement learning (RL) for robot control typically requires a detailed representation of the environment state, including information about task-relevant objects not directly measurable. Keypoint detectors, such as spatial autoencoders…

Sensors in high-precision mechatronic systems require accurate calibration, which is achieved using test beds that, in turn, require even more accurate calibration. The aim of this paper is to develop a cascaded calibration method for…

Some statistical models are specified via a data generating process for which the likelihood function cannot be computed in closed form. Standard likelihood-based inference is then not feasible but the model parameters can be inferred by…

Despite the success of galaxy-scale strong gravitational lens studies with Hubble-quality imaging, the number of well-studied strong lenses remains small. As a result, robust comparisons of the lens models to theoretical predictions are…

This diploma thesis describes the theoretical bases, the conception of the module and the final result of the development process in application. for the environment logging with a small mobile robot for interiors should be sketched an…

Sensing and Perception (S&P) is a crucial component of an autonomous system (such as a robot), especially when deployed in highly dynamic environments where it is required to react to unexpected situations. This is particularly true in case…

This paper is about enabling robots to improve their perceptual performance through repeated use in their operating environment, creating local expert detectors fitted to the places through which a robot moves. We leverage the concept of…

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.…