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

We present a system for localizing sound sources in a room with several ad-hoc microphone arrays. Each circular array performs direction of arrival (DOA) estimation independently using commercial software. The DOAs are fed to a fusion…

Motivated by previous investigations on the radiative effects of the electric dipoles embedded in structured cavities, localization of electromagnetic waves in two dimensions is studied {\it ab initio} for a system consisting of many…

We describe a private audio messaging system that uses echoes to unscramble messages at a few predetermined locations in a room. The system works by splitting the audio into short chunks and emitting them from different loudspeakers. The…

Given an input sound signal and a target virtual sound source, sound spatialisation algorithms manipulate the signal so that a listener perceives it as though it were emitted from the target source. There exist several established…

Recent work has shown impressive localization performance using only images of ground textures taken with a downward facing monocular camera. This provides a reliable navigation method that is robust to feature sparse environments and…

Fingerprinting is a popular indoor localization technique since it can utilize existing infrastructures (e.g., access points). However, its site survey process is a labor-intensive and time-consuming task, which limits the application of…

Sound reconstruction via arbitrary objects has been a popular method in recent years, based on the recording of scattered light from the target object with a high-speed detector. In this work, we demonstrate the use of multi-mode fiber as a…

Despite the remarkable advances in image matching and pose estimation, image-based localization of a camera in a temporally-varying outdoor environment is still a challenging problem due to huge appearance disparity between query and…

Fingerprinting-based indoor localization is an emerging application domain for enhanced positioning and tracking of people and assets within indoor locales. The superior pairing of ubiquitously available WiFi signals with computationally…

Radio localization is a key enabler for joint communication and sensing in the fifth/sixth generation (5G/6G) communication systems. With the help of multipath components (MPCs), localization and mapping tasks can be done with a single base…

This paper presents a new system to obtain dense object reconstructions along with 6-DoF poses from a single image. Geared towards high fidelity reconstruction, several recent approaches leverage implicit surface representations and deep…

This paper presents a method for real-time estimation of 2-dimensional direction of arrival (2D-DOA) of one or more sound sources using a nonlinear array of three microphones. 2D-DOA is estimated employing frame-level time difference of…

Among many techniques for indoor localization, fingerprinting has been shown to provide a higher accuracy compared to the alternative techniques. Fingerprinting techniques require an initial calibration phase during which site surveyors…

Accurate estimation of the environment structure simultaneously with the robot pose is a key capability of autonomous robotic vehicles. Classical simultaneous localization and mapping (SLAM) algorithms rely on the static world assumption to…

We present an approach for reconstructing vehicles from a single (RGB) image, in the context of autonomous driving. Though the problem appears to be ill-posed, we demonstrate that prior knowledge about how 3D shapes of vehicles project to…

The images and sounds that we perceive undergo subtle but geometrically consistent changes as we rotate our heads. In this paper, we use these cues to solve a problem we call Sound Localization from Motion (SLfM): jointly estimating camera…

We propose and implement a novel indoor localization scheme, Swadloon, built upon an accurate acoustic direction finding. Swadloon leverages sensors of the smartphone without the requirement of any specialized devices. The scheme Swadloon…

We present an application of autoencoders to the problem of noise reduction in single-shot astronomical images and explore its suitability for upcoming large-scale surveys. Autoencoders are a machine learning model that summarises an input…

Robotic perception is becoming a key technology for navigation aids, especially helping individuals with visual impairments through spatial sonification. This paper introduces a mapping representation that accurately captures scene geometry…

Change detection, i.e., anomaly detection from local maps built by a mobile robot at multiple different times, is a challenging problem to solve in practice. Most previous work either cannot be applied to scenarios where the size of the map…