相关论文: Analysing the Data-Driven Approach of Dynamically …
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 many robotic applications, the environment setting in which the 6-DoF pose estimation of a known, rigid object and its subsequent grasping is to be performed, remains nearly unchanging and might even be known to the robot in advance. In…
Domain adaptation (DA) is a technique that transfers predictive models trained on a labeled source domain to an unlabeled target domain, with the core difficulty of resolving distributional shift between domains. Currently, most popular DA…
We propose a method for object-aware 3D egocentric pose estimation that tightly integrates kinematics modeling, dynamics modeling, and scene object information. Unlike prior kinematics or dynamics-based approaches where the two components…
Active Alignment (AA) is a key technology for the large-scale automated assembly of high-precision optical systems. Compared with labor-intensive per-model on-device calibration, a digital-twin pipeline built on optical simulation offers a…
Recognizing user location with WiFi fingerprints is a popular approach for accurate indoor positioning problems. In this work, our goal is to interpret WiFi fingerprints into actual user locations. However, WiFi fingerprint data can be very…
Existing deep neural network (DNN) based wireless localization approaches typically do not capture uncertainty inherent in their estimates. In this work, we propose and evaluate variational and scalable DNN approaches to measure the…
Localizing mobile robotic nodes in indoor and GPS-denied environments is a complex problem, particularly in dynamic, unstructured scenarios where traditional cameras and LIDAR-based sensing and localization modalities may fail.…
Direction-of-arrival (DOA) estimation refers to the process of retrieving the direction information of several electromagnetic waves/sources from the outputs of a number of receiving antennas that form a sensor array. DOA estimation is a…
We develop an algorithm to explore an environment to generate a measurement model for use in future localization tasks. Ergodic exploration with respect to the likelihood of a particular class of measurement (e.g., a contact detection…
Millimeter-wave (mmWave) systems in the 30--300 GHz bands are among the fundamental enabling technologies of 5G and beyond 5G, providing large bandwidths, not only for high data rate communication, but also for precise positioning services,…
We consider a robust beamforming problem where large amount of downlink (DL) channel state information (CSI) data available at a multiple antenna access point (AP) is used to improve the link quality to a user equipment (UE) for beyond-5G…
We present a data-driven control architecture for modifying the kinematics of robots and artificial avatars to encode specific information such as the presence or not of an emotion in the movements of an avatar or robot driven by a human…
IP Geolocation is a key enabler for the Future Internet to provide geographical location information for application services. For example, this data is used by Content Delivery Networks to assign users to mirror servers, which are close…
Autonomous navigation based on precise localization has been widely developed in both academic research and practical applications. The high demand for localization accuracy has been essential for safe robot planing and navigation while it…
Indoor position technology has become one of the research highlights in the Internet of Things (IoT), but there is still a lack of universal, low-cost, and high-precision solutions. This paper conducts research on indoor position technology…
The manuscript discusses the increasing use of location-aware radio communication systems to support operational processes for the demanding aircraft cabin environment. In this context, the challenges for evaluation and integration of…
In the realm of object pose estimation, scenarios involving both dynamic objects and moving cameras are prevalent. However, the scarcity of corresponding real-world datasets significantly hinders the development and evaluation of robust…
In recent years, pre-trained visual-linguistic models have demonstrated tremendous potential, becoming a crucial foundational framework for numerous downstream tasks. However, the information density between text and images is not uniformly…
Precise initialization plays a critical role in the performance of localization algorithms, especially in the context of robotics, autonomous driving, and computer vision. Poor localization accuracy is often a consequence of inaccurate…