相关论文: Blind as a bat: audible echolocation on small robo…
Mobile robots increasingly operate alongside humans but are often out of sight, so that humans need to rely on the sounds of the robots to recognize their presence. For successful human-robot interaction (HRI), it is therefore crucial to…
Unmanned aerial vehicles (UAV), commonly referred to as drones, have raised increasing interest in recent years. Search and rescue scenarios where humans in emergency situations need to be quickly found in areas difficult to access…
Vision research showed remarkable success in understanding our world, propelled by datasets of images and videos. Sensor data from radar, LiDAR and cameras supports research in robotics and autonomous driving for at least a decade. However,…
This article addresses the localization problem in robotic autonomous luggage trolley collection at airports and provides a systematic evaluation of different methods to solve it. The robotic autonomous luggage trolley collection is a…
Accurate localization is an essential technology for the flexible navigation of robots in large-scale environments. Both SLAM-based and map-based localization will increase the computing load due to the increase in map size, which will…
Understanding human instructions is essential for enabling smooth human-robot interaction. In this work, we focus on object grounding, i.e., localizing an object of interest in a visual scene (e.g., an image) based on verbal human…
Acoustic cameras have found many applications in practice. Accurate and reliable extrinsic calibration of the microphone array and visual sensors within acoustic cameras is crucial for fusing visual and auditory measurements. Existing…
Imagine hearing a dog bark and turning toward the sound only to see a parked car, while the real, silent dog sits elsewhere. Such sensory conflicts test perception, yet humans reliably resolve them by prioritizing sound over misleading…
Deep learning has revolutionized the ability to learn "end-to-end" autonomous vehicle control directly from raw sensory data. While there have been recent extensions to handle forms of navigation instruction, these works are unable to…
We present Acoustic Inertial Measurement (AIM), a one-of-a-kind technique for indoor drone localization and tracking. Indoor drone localization and tracking are arguably a crucial, yet unsolved challenge: in GPS-denied environments,…
Most of the existing mobile robot localization solutions are either heavily dependent on pre-installed infrastructures or having difficulty working in highly repetitive environments which do not have sufficient unique features. To address…
To achieve human-like behaviour during speech interactions, it is necessary for a humanoid robot to estimate the location of a human talker. Here, we present a method to optimize the parameters used for the direction of arrival (DOA)…
An ultrasonic Positioning System (UPS) has outperformed RF-based systems in terms of its accuracy for years. However, few of the developed solutions have been deployed in practice to satisfy the localization demand of today's smart devices,…
The operational environments in which a mobile robot executes its missions often exhibit non-flat terrain characteristics, encompassing outdoor and indoor settings featuring ramps and slopes. In such scenarios, the conventional…
Robots in a swarm take advantage of a motion capture system or GPS sensors to obtain their global position. However, motion capture systems are environment-dependent and GPS sensors are not reliable in occluded environments. For a reliable…
This paper proposes a real-time system integrating an acoustic material estimation from visual appearance and an on-the-fly mapping in the 3-dimension. The proposed method estimates the acoustic materials of surroundings in indoor scenes…
Inspecting petrochemical pipelines is challenging due to hazardous materials, narrow diameters, and inaccessible locations. Mobile robots are promising for autonomous pipeline inspection and mapping. This project aimed to simulate and…
Sound-tracking refers to the process of determining the direction from which a sound originates, making it a fundamental component of sound source localization. This capability is essential in a variety of applications, including security…
Underwater navigation presents several challenges, including unstructured unknown environments, lack of reliable localization systems (e.g., GPS), and poor visibility. Furthermore, good-quality obstacle detection sensors for underwater…
Localization in challenging, natural environments such as forests or woodlands is an important capability for many applications from guiding a robot navigating along a forest trail to monitoring vegetation growth with handheld sensors. In…