相关论文: Walk2Map: Extracting Floor Plans from Indoor Walk …

Recent technological innovations have led to an increase in the availability of 3D urban data, such as shadow, noise, solar potential, and earthquake simulations. These spatiotemporal datasets create opportunities for new visualizations to…

Although people spend most of their time indoors, outdoor tracking systems, such as the Global Positioning System (GPS), are predominantly used for location-based services. These systems are accurate outdoors, easy to use, and operate…

This paper describes a novel approach for generating accurate floor plans and 3D models of building interiors using scanned mesh data. Unlike previous methods, which begin with a high resolution point cloud from a laser range-finder, our…

Vertical localization, particularly floor separation, remains a major challenge in indoor positioning systems operating in GPS-denied multistory environments. This paper proposes a fully data-driven, graph-based framework for blind floor…

Path planning is a fundamental capability for autonomous navigation of robotic wheelchairs. With the impressive development of deep-learning technologies, imitation learning-based path planning approaches have achieved effective results in…

Autonomous 3D acquisition of outdoor environments poses special challenges. Different from indoor scenes, where the room space is delineated by clear boundaries and separations (e.g., walls and furniture), an outdoor environment is spacious…

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,…

The rapidly advancing fields of statistical modeling and machine learning have significantly enhanced data-driven design and optimization. This paper focuses on leveraging these design algorithms to optimize a medical walker, an integral…

The analysis of large collections of image data is still a challenging problem due to the difficulty of capturing the true concepts in visual data. The similarity between images could be computed using different and possibly multimodal…

Human motion is fundamentally driven by continuous physical interaction with the environment. Whether walking, running, or simply standing, the forces exchanged between our feet and the ground provide crucial insights for understanding and…

A common approach to the generation of walking patterns for humanoid robots consists in adopting a layered control architecture. This paper proposes an architecture composed of three nested control loops. The outer loop exploits a robot…

Robust obstacle avoidance is one of the critical steps for successful goal-driven indoor navigation tasks.Due to the obstacle missing in the visual image and the possible missed detection issue, visual image-based obstacle avoidance…

Currently, mobile robots are developing rapidly and are finding numerous applications in the industry. However, several problems remain related to their practical use, such as the need for expensive hardware and high power consumption…

This paper proposes a new approach for automated floorplan reconstruction from RGBD scans, a major milestone in indoor mapping research. The approach, dubbed Floor-SP, formulates a novel optimization problem, where room-wise coordinate…

SLAM is a fundamental component of modern autonomous systems, providing robots and their operators with a deeper understanding of their environment. SLAM systems often encounter challenges due to the dynamic nature of robotic motion,…

We present an efficient multi-sensor odometry system for mobile platforms that jointly optimizes visual, lidar, and inertial information within a single integrated factor graph. This runs in real-time at full framerate using fixed lag…

The paper proposes a multi-modal sensor fusion algorithm that fuses WiFi, IMU, and floorplan information to infer an accurate and dense location history in indoor environments. The algorithm uses 1) an inertial navigation algorithm to…

This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…

With the development of cheap image sensors, the amount of available image data have increased enormously, and the possibility of using crowdsourced collection methods has emerged. This calls for development of ways to handle all these…

3D Human Motion Indexing and Retrieval is an interesting problem due to the rise of several data-driven applications aimed at analyzing and/or re-utilizing 3D human skeletal data, such as data-driven animation, analysis of sports…