相关论文: Estimating Target-Object Shape Using Location-Unkn…

Assume that a target is known to be present at an unknown point among a finite set of locations in the plane. We search for it using a mobile robot that has imperfect sensing capabilities. It takes time for the robot to move between…

In robotics, motion capture systems have been widely used to measure the accuracy of localization algorithms. Moreover, this infrastructure can also be used for other computer vision tasks, such as the evaluation of Visual (-Inertial) SLAM…

We consider the problem of localizing a target taking the help of a set of anchor beacon nodes.A small number of beacon nodes are deployed at known locations in the area.The target can detect a beacon provided it happens to lie within the…

Given that the accuracy of range-based positioning techniques generally increases with the number of available anchor nodes, it is important to secure more of these nodes. To this end, this paper studies an unsupervised learning technique…

In this study, we propose a novel extended target tracking algorithm which is capable of representing the extent of dynamic objects as an ellipsoid with a time-varying orientation angle. A diagonal positive semi-definite matrix is defined…

We propose a keypoint-based object-level SLAM framework that can provide globally consistent 6DoF pose estimates for symmetric and asymmetric objects alike. To the best of our knowledge, our system is among the first to utilize the camera…

In this paper we propose a geometry-aware model for video object detection. Specifically, we consider the setting that cameras can be well approximated as static, e.g. in video surveillance scenarios, and scene pseudo depth maps can…

Purpose. We present a new method to evaluate the accuracy of an eye tracker based eye localization system. Measuring the accuracy of an eye tracker's primary intention, the estimated point of gaze, is usually done with volunteers and a set…

Accurate imaging of target shape is a crucial aspect of wideband FM biosonar in echolocating bats, for which we have developed new algorithms that provide a solution for the shape of complicated targets in the computational domain. We use…

Three-dimensional shape sensing in soft and continuum robotics is a crucial aspect for stable actuation and control in fields such as Minimally Invasive surgery, as the estimation of complex curvatures while using continuum robotic tools is…

In this paper, we propose a global method for estimating the motion of a camera which films a static scene. Our approach is direct, fast and robust, and deals with adjacent frames of a sequence. It is based on a quadratic approximation of…

We propose a novel external indoor positioning system that computes the position and orientation of multiple model-scale vehicles. For this purpose, we use a camera mounted at a height of 3.3m and LEDs attached to each vehicle. We reach an…

Existing learning-based methods for object pose estimation in RGB images are mostly model-specific or category based. They lack the capability to generalize to new object categories at test time, hence severely hindering their…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

We present a method for the unattended gray-box identification of sensor models commonly used by localization algorithms in the field of robotics. The objective is to determine the most likely sensor model for a time series of unknown…

Modern smart phones are becoming helpful in the areas of Internet-Of-Things (IoT) and ambient health intelligence. By learning data from several mobile sensors, we detect nearness of the human body to a mobile device in a three-dimensional…

In this work, we build on our method for manipulating unknown objects via contact configuration regulation: the estimation and control of the location, geometry, and mode of all contacts between the robot, object, and environment. We…

A GPS-denied UAV (Agent B) is localised through INS alignment with the aid of a nearby GPS-equipped UAV (Agent A), which broadcasts its position at several time instants. Agent B measures the signals' direction of arrival with respect to…

Object pose estimation is a fundamental computer vision problem with broad applications in augmented reality and robotics. Over the past decade, deep learning models, due to their superior accuracy and robustness, have increasingly…

In this paper we address the problems of detecting objects of interest in a video and of estimating their locations, solely from the gaze directions of people present in the video. Objects can be indistinctly located inside or outside the…