相关论文: An Implementation Approach and Performance Analysi…

Inferring walls configuration of indoor environment could help robot "understand" the environment better. This allows the robot to execute a task that involves inter-room navigation, such as picking an object in the kitchen. In this paper,…

Accurate alignment of a fixed mobile device equipped with inertial sensors inside a moving vehicle is important for navigation, activity recognition, and other applications. Accurate estimation of the device mounting angle is required to…

Visible light communication (VLC) has become a promising research topic in recent years, and finds its wide applications in indoor environments. Particularly, for location based services (LBS), visible light also provides a practical…

Localization and tracking (LocTrack) are fundamental enablers for a wide range of emerging applications. Reconfigurable intelligent surfaces (RISs) have emerged as key components for enhancing the LocTrack performance. This paper…

This paper demonstrates a system comprised of infrared beacons and a camera equipped with an optical band-pass filter. Our system can reliably detect and identify individual beacons at 100m distance regardless of lighting conditions. We…

Localization is a critically essential and crucial enabler of autonomous robots. While deep learning has made significant strides in many computer vision tasks, it is still yet to make a sizeable impact on improving capabilities of metric…

We present a generalized velocity model to improve localization when using an Inertial Navigation System (INS). This algorithm was applied to correct the velocity of a smart phone based indoor INS system to increase the accuracy by…

Tracking multiple moving objects of interest (OOI) with multiple robot systems (MRS) has been addressed by active sensing that maintains a shared belief of OOIs and plans the motion of robots to maximize the information quality. Mobility of…

mmWave communication has come up as the unexplored spectrum for 5G services. With new standards for 5G NR positioning, more off-the-shelf platforms and algorithms are needed to perform indoor positioning. An object can be accurately…

High-speed vehicular environments require optical systems capable of joint sensing, positioning, and communication (JSPC) without mechanical tracking. Existing optical and integrated sensing-communication approaches often rely on…

Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…

The rise of the Internet of Things (IoT) and mobile internet applications has spurred interest in location-based services (LBS) for commercial, military, and social applications. While the global positioning system (GPS) dominates outdoor…

Multiple mobile robots play a significant role in various spatially distributed tasks.In unfamiliar and non-repetitive scenarios, reconstructing the global map is time-inefficient and sometimes unrealistic. Hence, research has focused on…

Blind navigation is an accessibility application that enables blind to use an android Smartphone in an easy way for indoor navigation with instructions in audio form. We have proposed a prototype which is an indoor navigation application…

Constrained environments, such as indoor and urban settings, present a significant challenge for accurate moving object positioning due to the diminished line-of-sight (LoS)communication with the wireless anchor used for positioning. The…

While simulation tools for visible light communication (VLC) with photo detectors (PDs) have been widely investigated, similar tools for optical camera communication (OCC) with complementary metal oxide semiconductor (CMOS) sensors are…

Optical camera communication (OCC) has emerged as a key enabling technology for the seamless operation of future autonomous vehicles. By leveraging the supreme performance of OCC, we can meet the stringent requirements of ultra-reliable and…

Underwater optical wireless links have limited range and intermittent connectivity due to the hostile aquatic channel impairments and misalignment between the optical transceivers. Therefore, multi-hop communication can expand the…

One of the major challenges of a real-time autonomous robotic system for construction monitoring is to simultaneously localize, map, and navigate over the lifetime of the robot, with little or no human intervention. Past research on…

Existing Multiple Object Tracking (MOT) methods design complex architectures for better tracking performance. However, without a proper organization of input information, they still fail to perform tracking robustly and suffer from frequent…