相关论文: Indoor Localization for Quadrotors using Invisible…

Indoor positioning aims at navigation inside areas with no GPS-data availability and could be employed in many applications such as augmented reality, autonomous driving specially inside closed areas and tunnels. In this paper, a deep…

This paper explores a method of localization and navigation of indoor mobile robots using a node graph of landmarks that are based on fiducial markers. The use of ArUco markers and their 2D orientation with respect to the camera of the…

As passengers spend more time in vehicles, the demand for non-driving related tasks (NDRTs) increases. In-car Augmented Reality (AR) has the potential to enhance passenger experiences by enabling interaction with the environment through…

Inferring the location of a mobile device in an indoor setting is an open problem of utmost significance. A leading approach that does not require the deployment of expensive infrastructure is fingerprinting, where a classifier is trained…

Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…

Topological localization is a fundamental problem in mobile robotics, since robots must be able to determine their position in order to accomplish tasks. Visual localization and place recognition are challenging due to perceptual ambiguity,…

A classic task in robotics is tracking a target in the external environment. There are several well-documented approaches to this problem. This paper presents a novel approach to this problem using infrared time of flight sensors. The use…

Optical camera communication (OCC) exhibits considerable importance nowadays in various indoor camera based services such as smart home and robot-based automation. An android smart phone camera that is mounted on a mobile robot (MR) offers…

We propose a novel external indoor positioning system that computes the position and orientation of multiple model-scale vehicles. For this purpose, we use a camera mounted at a height of 3.3m and LEDs attached to each vehicle. We reach an…

Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection…

Due to the noisy indoor radio propagation channel, Radio Frequency (RF)-based location determination systems usually require a tedious calibration phase to construct an RF fingerprint of the area of interest. This fingerprint varies with…

This paper details a system for fast visual exploration and search without prior map information. We leverage frontier based planning with both LiDAR and visual sensing and augment it with a perception module that contextually labels points…

Fine localization in autonomous driving platforms is a task of broad interest, receiving much attention in recent years. Some localization algorithms use the Euclidean distance as a similarity measure between the local image acquired by a…

We aim to enable robots to visually localize a target person through the aid of an additional sensing modality -- the target person's 3D inertial measurements. The need for such technology may arise when a robot is to meet person in a crowd…

With the transition to fully autonomous vehicles, non-driving related tasks (NDRTs) become increasingly important, allowing passengers to use their driving time more efficiently. In-car Augmented Reality (AR) gives the possibility to engage…

While it is often critical for indoor-location- and proximity-aware applications to know whether a user is in a space or not (e.g., a specific room or office), a key challenge is that the difference between standing on one side or another…

Tracking object poses in 3D is a crucial building block for Augmented Reality applications. We propose an instant motion tracking system that tracks an object's pose in space (represented by its 3D bounding box) in real-time on mobile…

One huge advantage of Augmented Reality (AR) is its numerous possibilities of displaying information in the physical world, especially when applying Situated Analytics (SitA). AR devices and their respective interaction techniques allow for…

Rapidly developing technologies are realizing a 3D telepresence, in which geographically separated users can interact with each other through their virtual avatars. In this paper, we present novel methods to determine the avatar's position…

Augmented Reality (AR) enriches a user's real environment by adding spatially aligned virtual objects (3D models, 2D textures, textual annotations, etc) by means of special display technologies. These are either worn on the body or placed…