相关论文: Indoor Navigation Using Information From A Map And…

In the current era of the industrial revolution, mobile robots are playing a pivotal role in helping out mankind in many complex and hazardous environments for performing tasks like search and rescue, obstacle avoidance, mining and security…

Autonomous exploration is a complex task where the robot moves through an unknown environment with the goal of mapping it. The desired output of such a process is a sequence of paths that efficiently and safely minimise the uncertainty of…

Indoor positioning systems (IPSs) have gained attention as outdoor navigation becomes prevalent in everyday life. Research is being actively conducted on how indoor smartphone navigation can be accomplished and improved using received…

Robots require a semantic understanding of their surroundings to operate in an efficient and explainable way in human environments. In the literature, there has been an extensive focus on object labeling and exhaustive scene graph…

Sonar-based indoor mapping systems have been widely employed in robotics for several decades. While such systems are still the mainstream in underwater and pipe inspection settings, the vulnerability to noise reduced, over time, their…

We consider the problems of exploration and point-goal navigation in previously unseen environments, where the spatial complexity of indoor scenes and partial observability constitute these tasks challenging. We argue that learning…

A likelihood-free transport filtering method is proposed based on the couplings between state and observation variables. By exploiting a block-triangular structure in the transport map, the analysis step of filtering is reformulated as the…

In indirect measurements, the measurand is determined by solving an inverse problem which requires a model of the measurement process. Such models are often approximations and introduce systematic errors leading to a bias of the posterior…

This paper studies a nonlinear filtering problem over an infinite time interval. The signal to be estimated is driven by a stochastic partial differential equation involves unknown parameters. Based on discrete observation, strongly…

We introduce and analyze a fast iterative method based on sequential Bregman projections for nonlinear inverse problems in Banach spaces. The key idea, in contrast to the standard Landweber method, is to use multiple search directions per…

MAP is the problem of finding a most probable instantiation of a set of variables in a Bayesian network given some evidence. Unlike computing posterior probabilities, or MPE (a special case of MAP), the time and space complexity of…

In this work, we develop and compare two innovative strategies for parameter estimation and radar detection of multiple point-like targets. The first strategy, which appears here for the first time, jointly exploits the maximum likelihood…

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,…

We introduce an algorithm which can be directly used to feasible and optimum search in linear programming. Starting from an initial point the algorithm iteratively moves a point in a direction to resolve the violated constraints. At the…

Using an enhanced Self-Organizing Map method, we provided suboptimal solutions to the Traveling Salesman Problem. Besides, we employed hyperparameter tuning to identify the most critical features in the algorithm. All improvements in the…

Rotation Averaging is a non-convex optimization problem that determines orientations of a collection of cameras from their images of a 3D scene. The problem has been studied using a variety of distances and robustifiers. The intrinsic (or…

This study describes a UWB and Machine Learning (ML)-based indoor positioning system. We propose a simple mathematical strategy to create data to reduce the job of measurements for fingerprint-based indoor localization systems. A…

Indoor localization is the process of determining the location of a person or object inside a building. Potential usage of indoor localization includes navigation, personalization, safety and security, and asset tracking. Commonly used…

In recent years, the increased availability of WiFi in indoor environments has gained interest in the robotics community to utilize WiFi signals for indoor simultaneous localization and mapping algorithms. This paper discusses the…

In this paper, we focus on the modification of policies that can lead to movement patterns and directional guidance of occupants, which are represented as agents in a 3D simulation engine. We demonstrate an optimization method that improves…