相关论文: High accuracy and error analysis of indoor visible…

Images acquired by computer vision systems under low light conditions have multiple characteristics like high noise, lousy illumination, reflectance, and bad contrast, which make object detection tasks difficult. Much work has been done to…

In this study, we investigate hybrid utilization of angle-of-arrival (AOA) and received signal strength (RSS) information in visible light communication (VLC) systems for 3D localization. We show that AOA-based localization method allows…

We demonstrated multi-mobile robot navigation based on Visible Light Positioning(VLP) localization. From our experiment, the VLP can accurately locate robots' positions in navigation.

This paper introduces a novel and distributed method for detecting inter-map loop closure outliers in simultaneous localization and mapping (SLAM). The proposed algorithm does not rely on a good initialization and can handle more than two…

We propose an enhanced spatial modulation (SM)-based scheme for indoor visible light communication systems. This scheme enhances the achievable throughput of conventional SM schemes by transmitting higher order complex modulation symbol,…

A misalignment of LiDAR as low as a few degrees could cause a significant error in obstacle detection and mapping that could cause safety and quality issues. In this paper, an accurate inspection system is proposed for estimating a LiDAR…

In this paper, we design an information-based multi-robot source seeking algorithm where a group of mobile sensors localizes and moves close to a single source using only local range-based measurements. In the algorithm, the mobile sensors…

Visual Odometry (VO) and Visual SLAM (V-SLAM) systems often struggle in low-light and dark environments due to the lack of robust visual features. In this paper, we propose a novel active illumination framework to enhance the performance of…

We propose a novel learning-based formulation for visual localization of vehicles that can operate in real-time in city-scale environments. Visual localization algorithms determine the position and orientation from which an image has been…

The ability of robots to estimate their location is crucial for a wide variety of autonomous operations. In settings where GPS is unavailable, measurements of transmissions from fixed beacons provide an effective means of estimating a…

In recent years, innovative roadside parking vacancy crowdsensing solutions have emerged as a cost-effective alternative to traditional methods, which can significantly reduce sensor installation and maintenance expenses. This crowdsensing…

We study the problem of sensor placement in environments in which localization is a necessity, such as ad-hoc wireless sensor networks that allow the placement of a few anchors that know their location or sensor arrays that are tracking a…

To reconstruct the points in three dimensional space, we need at least two images. In this paper we compared two different methods: the first uses only two images, the second one uses three. During the research we measured how camera…

In this paper, we discuss a mathematical model for inverse freeform design of an optical system with two reflectors in which light transfers from a point source to a point target. In this model, the angular light intensity emitted from the…

Relative vehicle positioning methods can contribute to safer and more efficient autonomous driving by enabling collision avoidance and platooning applications. For full automation, these applications require cm-level positioning accuracy…

For a team of robots to work collaboratively, it is crucial that each robot have the ability to determine the position of their neighbors, relative to themselves, in order to execute tasks autonomously. This letter presents an algorithm for…

Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…

Understanding the locations of occupants in a commercial built environment is critical for realizing energy savings by delivering lighting, heating, and cooling only where it is needed. The key to achieving this goal is being able to…

This paper presents a novel intrinsic image transfer (IIT) algorithm for illumination manipulation, which creates a local image translation between two illumination surfaces. This model is built on an optimization-based framework consisting…

Indoor localization is one of the crucial enablers for deployment of service robots. Although several successful techniques for indoor localization have been proposed, the majority of them relies on maps generated from data gathered with…