相关论文: The LuViRA Dataset: Synchronized Vision, Radio, an…
High-precision navigation and positioning systems are critical for applications in autonomous vehicles and mobile mapping, where robust and continuous localization is essential. To test and enhance the performance of algorithms, some…
Indoor self-localization is a highly demanded system function for smartphones. The current solutions based on inertial, radio frequency, and geomagnetic sensing may have degraded performance when their limiting factors take effect. In this…
This paper explores the process of designing an automatic multi-sensor drone detection system. Besides the common video and audio sensors, the system also includes a thermal infrared camera, which is shown to be a feasible solution to the…
In this paper we present a large dataset with a variety of mobile mapping sensors collected using a handheld device carried at typical walking speeds for nearly 2.2 km through New College, Oxford. The dataset includes data from two…
In this paper, we present HOMULA-RIR, a dataset of room impulse responses (RIRs) acquired using both higher-order microphones (HOMs) and a uniform linear array (ULA), in order to model a remote attendance teleconferencing scenario.…
Datasets have gained an enormous amount of popularity in the computer vision community, from training and evaluation of Deep Learning-based methods to benchmarking Simultaneous Localization and Mapping (SLAM). Without a doubt, synthetic…
Multi-view capture systems have been an important tool in research for recording human motion under controlling conditions. Most existing systems are specified around video streams and provide little or no support for audio acquisition and…
Multimodal Deep Learning enhances decision-making by integrating diverse information sources, such as texts, images, audio, and videos. To develop trustworthy multimodal approaches, it is essential to understand how uncertainty impacts…
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…
The training of deep learning-based multichannel speech enhancement and source localization systems relies heavily on the simulation of room impulse response and multichannel diffuse noise, due to the lack of large-scale real-recorded…
This paper presents UPV_RIR_DB, a structured database of measured room impulse responses (RIRs) designed to provide acoustic data with explicit spatial metadata and traceable acquisition parameters. The dataset currently contains 166…
This paper addresses the problem of localizing audio sources using binaural measurements. We propose a supervised formulation that simultaneously localizes multiple sources at different locations. The approach is intrinsically efficient…
The field of autonomous driving has grown tremendously over the past few years, along with the rapid progress in sensor technology. One of the major purposes of using sensors is to provide environment perception for vehicle understanding,…
We present NERVE (Neuromorphic Vision and Radar Ensemble), a multi-sensor dataset comprising 257 minutes of synchronized recordings from five sensors: two Dynamic Vision Sensors (DVS), an RGB-D camera, and two Radar units (24GHz and 77GHz).…
The hearing sense on a mobile robot is important because it is omnidirectional and it does not require direct line-of-sight with the sound source. Such capabilities can nicely complement vision to help localize a person or an interesting…
While direction of arrival (DOA) of sound events is generally estimated from multichannel audio data recorded in a microphone array, sound events usually derive from visually perceptible source objects, e.g., sounds of footsteps come from…
Most existing mobile robotic datasets primarily capture static scenes, limiting their utility for evaluating robotic performance in dynamic environments. To address this, we present a mobile robot oriented large-scale indoor dataset,…
In this paper we propose a real-time, calibration-agnostic and effective localization system for self-driving cars. Our method learns to embed the online LiDAR sweeps and intensity map into a joint deep embedding space. Localization is then…
This paper explores the potential of 5G new radio (NR) Time-of-Arrival (TOA) data for indoor drone localization under different scenarios and conditions when fused with inertial measurement unit (IMU) data. Our approach involves performing…
Nowadays, smartphones can produce a synchronized (synced) stream of high-quality data, including RGB images, inertial measurements, and other data. Therefore, smartphones are becoming appealing sensor systems in the robotics community.…