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

We have developed an algorithm to generate a complete map of the traversable region for a personal assistant robot using monocular vision only. Using multiple taken by a simple webcam, obstacle detection and avoidance algorithms have been…

In this paper, we address the challenge of navigating through unknown indoor environments using autonomous aerial robots within confined spaces. The core of our system involves the integration of key sensor technologies, including depth…

The problem of mixed signals occurs in many different contexts; one of the most familiar being acoustics. The forward problem in acoustics consists of finding the sound pressure levels at various detectors resulting from sound signals…

GPS receivers embedded in cell phones and connected vehicles generate a series of location measurements that can be used for various analytical purposes. A common pre-processing step of this data is the so-called map matching. The goal of…

In this paper we address the problem of indoor localization using magnetic field data in two setups, when data is collected by (i) human-held mobile phone and (ii) by localization robots that perturb magnetic data with their own…

We consider optimal sensor placement for hyper-parameterized linear Bayesian inverse problems, where the hyper-parameter characterizes nonlinear flexibilities in the forward model, and is considered for a range of possible values. This…

Indoor location-based services (LBS), such as POI search and routing, are often built on top of typical indoor spatial queries. To support such queries and indoor LBS, multiple techniques including model/indexes and search algorithms have…

We consider the problem of inferring the mobility map, which is the distribution of the building occupants at each timestamp, from the temperatures of the rooms. We also want to explore the effects of noise in the temperature measurement,…

In this paper, we consider a problem inspired by the real-world need to identify the topographical features of ocean basins. Specifically we consider the problem of estimating the bottom impermeable boundary to an inviscid, incompressible,…

Local or reactive navigation is essential for autonomous mobile robots which operate in an indoor environment. Techniques such as SLAM, computer vision require significant computational power which increases cost. Similarly, using…

In this paper, we introduce a novel method to capture visual trajectories for navigating an indoor robot in dynamic settings using streaming image data. First, an image processing pipeline is proposed to accurately segment trajectories from…

Navigating toward a known target in a noisy environment is a fundamental problem shared across biological, physical, and engineered systems. Although optimal strategies are often framed in terms of continuous, fine-grained feedback, we show…

The Bayesian approach has proved to be a coherent approach to handle ill posed Inverse problems. However, the Bayesian calculations need either an optimization or an integral calculation. The maximum a posteriori (MAP) estimation requires…

In inertial motion capture, a multitude of body segments are equipped with inertial sensors, consisting of 3D accelerometers and 3D gyroscopes. Using an optimization-based approach to solve the motion capture problem allows for natural…

We introduce a solution for a specific case of Indoor Localization which involves a directed signal, a reflected signal from the wall and the time difference between them. This solution includes robust localization with a given wall,…

Time-based indoor positioning techniques rely on multiple access points (APs) and measurements between the user equipment (UE) and the APs. In dense indoor environments, occlusion-induced non-line-of-sight (NLoS) propagation introduces…

The efficient and effective monitoring of mobile networks is vital given the number of users who rely on such networks and the importance of those networks. The purpose of this paper is to present a monitoring scheme for mobile networks…

Procedural material models have been gaining traction in many applications thanks to their flexibility, compactness, and easy editability. We explore the inverse rendering problem of procedural material parameter estimation from…

Navigation is one of the most widely used applications of the Location Based Services (LBS) which have become part of our digitally informed daily lives. Navigation services, however, have generally been designed for drivers rather than…

We propose a novel exact algorithm for the transportation problem, one of the paradigmatic network optimization problems. The algorithm, denoted Iterated Inside Out, requires in input a basic feasible solution and is composed by two main…