相关论文: Indoor Localization for Quadrotors using Invisible…
Indoor navigation is a foundational technology to assist the tracking and localization of humans, autonomous vehicles, drones, and robots in indoor spaces. Due to the lack of penetration of GPS signals in buildings, subterranean locales,…
In this paper we present a system that detects and tracks objects and agents, computes spatial relations, and communicates those relations to the user using speech. Our system is able to detect multiple objects and agents at 30 frames per…
While general object recognition is still far from being solved, this paper proposes a way for a robot to recognize every object at an almost human-level accuracy. Our key observation is that many robots will stay in a relatively closed…
Many localization algorithms and systems have been developed by means of wireless sensor networks for both indoor and outdoor environments. To achieve higher localization accuracy, extra hardware equipments are utilized by most of the…
The growing use of robots in urban environments has raised concerns about potential safety hazards, especially in public spaces where humans and robots may interact. In this paper, we present a system for safe human-robot interaction that…
Multi-user augmented reality (AR) could someday empower first responders with the ability to see team members around corners and through walls. For this vision of people tracking in dynamic environments to be practical, we need a relative…
While the satellite-based Global Positioning System (GPS) is adequate for some outdoor applications, many other applications are held back by its multi-meter positioning errors and poor indoor coverage. In this paper, we study the…
Location-aware applications play an increasingly critical role in everyday life. However, satellite-based localization (e.g., GPS) has limited accuracy and can be unusable in dense urban areas and indoors. We introduce an image-based global…
This paper presents a localization system for mobile robots enabling precise localization in inaccurate building models. The approach leverages local referencing to counteract inherent deviations between as-planned and as-built data for…
Existing navigation systems mostly consider "success" when the robot reaches within 1m radius to a goal. This precision is insufficient for emerging applications where the robot needs to be positioned precisely relative to an object for…
PointGoal navigation in indoor environment is a fundamental task for personal robots to navigate to a specified point. Recent studies solved this PointGoal navigation task with near-perfect success rate in photo-realistically simulated…
Indoor service robots need perception that is robust, more privacy-friendly than RGB video, and feasible on embedded hardware. We present a camera-free 2D LiDAR object detection pipeline that encodes short-term temporal context by stacking…
Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…
We present an online semantic object mapping system for a quadruped robot operating in real indoor environments, turning sensor detections into named objects in a global map. During a run, the mapper integrates range geometry with camera…
Image-based fiducial markers are useful in problems such as object tracking in cluttered or textureless environments, camera (and multi-sensor) calibration tasks, and vision-based simultaneous localization and mapping (SLAM). The…
Hidden spy cameras have become a great privacy threat recently, as these low-cost, low-power, and small form-factor IoT devices can quietly monitor human activities in the indoor environment without generating any side-channel information.…
Fingerprinting-based approaches are particularly suitable for deploying indoor positioning systems for pedestrians with minimal infrastructure costs. The accuracy of the method, however, strongly depends on the quality of collected labeled…
The agility and versatility offered by UAV platforms still encounter obstacles for full exploitation in industrial applications due to their indoor usage limitations. A significant challenge in this sense is finding a reliable and…
This paper proposes a novel method for geo-tracking, i.e. continuous metric self-localization in outdoor environments by registering a vehicle's sensor information with aerial imagery of an unseen target region. Geo-tracking methods offer…
Augmented reality (AR) offers immersive interaction but remains inaccessible for users with motor impairments or limited dexterity due to reliance on precise input methods. This study proposes a gesture-based interaction system for AR…