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

Multi-rotor aerial autonomous vehicles (MAVs) primarily rely on vision for navigation purposes. However, visual localization and odometry techniques suffer from poor performance in low or direct sunlight, a limited field of view, and…

Room geometry inference algorithms rely on the localization of acoustic reflectors to identify boundary surfaces of an enclosure. Rooms with highly absorptive walls or walls at large distances from the measurement setup pose challenges for…

In most photoacoustic (PA) measurements, variations in speed-of-sound (SOS) of the subject are neglected under the assumption of acoustic homogeneity. Biological tissue with spatially heterogeneous SOS cannot be accurately reconstructed…

This paper focuses on room fingerprinting, a task involving the analysis of an audio recording to determine the specific volume and shape of the room in which it was captured. While it is relatively straightforward to determine the basic…

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.…

Simultaneous localization and mapping (SLAM), i.e., the reconstruction of the environment represented by a (3D) map and the concurrent pose estimation, has made astonishing progress. Meanwhile, large scale applications aiming at the data…

In this paper, we experimentally demonstrate how discrete resonances can be used to image acoustic sources and mechanical changes in thin plates with different boundary shapes. The proposed method uses coupled numerical and experimental…

In this thesis, we propose an artificial auditory system that gives a robot the ability to locate and track sounds, as well as to separate simultaneous sound sources and recognising simultaneous speech. We demonstrate that it is possible to…

Mobile sensing has been recently proposed for sampling spatial fields, where mobile sensors record the field along various paths for reconstruction. Classical and contemporary sampling typically assumes that the sampling locations are…

We propose a method for sensor array self-localization using a set of sources at unknown locations. The sources produce signals whose times of arrival are registered at the sensors. We look at the general case where neither the emission…

Spatial analysis of room acoustics is an ongoing research topic. Microphone arrays have been employed for spatial analyses with an important objective being the estimation of the direction-of-arrival (DOA) of direct sound and early room…

We consider the problem of reconstructing the sound field in a room using prior information of the boundary geometry, represented as a point cloud. In general, when no boundary information is available, an accurate sound field…

Increasing sources of sensor measurements and prior knowledge have become available for indoor localization on smartphones. How to effectively utilize these sources for enhancing localization accuracy is an important yet challenging…

Real-time 3D reconstruction enables fast dense mapping of the environment which benefits numerous applications, such as navigation or live evaluation of an emergency. In contrast to most real-time capable approaches, our approach does not…

The widespread use of smart devices gives rise to both security and privacy concerns. Fingerprinting smart devices can assist in authenticating physical devices, but it can also jeopardize privacy by allowing remote identification without…

In this paper, we investigate shape-assembling power of a tile-based model of self-assembly called the Signal-Passing Tile Assembly Model (STAM). In this model, the glues that bind tiles together can be turned on and off by the binding…

Widespread RGB-Depth (RGB-D) sensors and advanced 3D reconstruction technologies facilitate the capture of indoor spaces, improving the fields of augmented reality (AR), virtual reality (VR), and extended reality (XR). Nevertheless, current…

Knowing the geometrical and acoustical parameters of a room may benefit applications such as audio augmented reality, speech dereverberation or audio forensics. In this paper, we study the problem of jointly estimating the total surface…

Accurate sound field reproduction in rooms is often limited by the lack of knowledge of the room characteristics. Information about the room shape or nearby reflecting boundaries can, in principle, be used to improve the accuracy of the…

Some important indoor localization applications, such as localizing a lost kid in a shopping mall, call for a new peer-to-peer localization technique that can localize an individual's smartphone or wearables by directly using another's…