相关论文: Autonomous Localization and Mapping Using a Single…

In this paper, we present a new approach for improving 3D point and line mapping regression for camera re-localization. Previous methods typically rely on feature matching (FM) with stored descriptors or use a single network to encode both…

Several animal species (e.g., bats, dolphins, and whales) and even visually impaired humans have the remarkable ability to perform echolocation: a biological sonar used to perceive spatial layout and locate objects in the world. We explore…

We propose an algorithm to estimate source and receiver positions, room geometry and reflection coefficients from a single room impulse response simultaneously. It is based on a symmetry analysis of the room impulse response. The proposed…

Measuring 3D geometric structures of indoor scenes requires dedicated depth sensors, which are not always available. Echo-based depth estimation has recently been studied as a promising alternative solution. All previous studies have…

Inferring the location of a mobile device in an indoor setting is an open problem of utmost significance. A leading approach that does not require the deployment of expensive infrastructure is fingerprinting, where a classifier is trained…

In this paper, robust detection, tracking and geometry estimation methods are developed and combined into a system for estimating time-difference estimates, microphone localization and sound source movement. No assumptions on the 3D…

Advances in object tracking and acoustic beamforming are driving new capabilities in surveillance, human-computer interaction, and robotics. This work presents an embedded system that integrates deep learning-based tracking with beamforming…

We study simultaneous localization and mapping with a device that uses reflections to measure its distance from walls. Such a device can be realized acoustically with a synchronized collocated source and receiver; it behaves like a bat with…

In this paper, we study the three-dimensional (3D) simultaneous localization and mapping (SLAM) problem in complex outdoor and indoor environments based only on millimeter-wave (mmWave) wireless communication signals. Firstly, we propose a…

Early visual to auditory substitution devices encode 2D monocular images into sounds while more recent devices use distance information from 3D sensors. This study assesses whether the addition of sound-encoded distance in recent systems…

Received signal strength based radio tomographic imaging is a popular device-free indoor localization method which reconstructs the spatial loss field of the environment using measurements from a dense wireless network. Existing methods…

In this paper we investigate the problem of localizing a mobile device based on readings from its embedded sensors utilizing machine learning methodologies. We consider a real-world environment, collect a large dataset of 3110 datapoints,…

Fine localization in autonomous driving platforms is a task of broad interest, receiving much attention in recent years. Some localization algorithms use the Euclidean distance as a similarity measure between the local image acquired by a…

We consider the two-dimensional multi-target detection problem of recovering a target image from a noisy measurement that contains multiple copies of the image, each randomly rotated and translated. Motivated by the structure reconstruction…

Recently, proposals of human-sensing-based services for cellular and local area networks have brought indoor localization to the attention of several research groups. In response to these stimuli, various Device-Free Localization (DFL)…

This paper addresses the problem of sound-source localization from time-delay estimates using arbitrarily-shaped non-coplanar microphone arrays. A novel geometric formulation is proposed, together with a thorough algebraic analysis and a…

While 3D human body modeling has received much attention in computer vision, modeling the acoustic equivalent, i.e. modeling 3D spatial audio produced by body motion and speech, has fallen short in the community. To close this gap, we…

This article explores a variant of Kac's famous problem, "Can one hear the shape of a drum?", by addressing a geometric inverse problem in acoustics. Our objective is to reconstruct the shape of a cuboid room using acoustic signals measured…

In many applications of autonomous mobile robots the following problem is encountered. Two maps of the same environment are available, one a prior map and the other a sensor map built by the robot. To benefit from all available information…

In this paper, we mathematically characterize the improvement in device localizability achieved by allowing collaboration among devices. Depending on the detection sensitivity of the receivers in the devices, it is not unusual for a device…