相关论文: The LuViRA Dataset: Synchronized Vision, Radio, an…

Low-light videos often exhibit spatiotemporal incoherent noise, leading to poor visibility and compromised performance across various computer vision applications. One significant challenge in enhancing such content using modern…

We design a multiscopic vision system that utilizes a low-cost monocular RGB camera to acquire accurate depth estimation. Unlike multi-view stereo with images captured at unconstrained camera poses, the proposed system controls the motion…

This paper presents the design, implementation, and evolution of a comprehensive multimodal room-monitoring system that integrates synchronized video and audio processing for real-time activity recognition and anomaly detection. We describe…

Airborne 3D imaging using ultrasound is a promising sensing modality for robotic applications in harsh environments. Over the last decade, several high-performance systems have been proposed in the literature. Most of these sensors use a…

Metaverse technologies demand accurate, real-time, and immersive modeling on consumer-grade hardware for both non-human perception (e.g., drone/robot/autonomous car navigation) and immersive technologies like AR/VR, requiring both…

Robust and accurate pose estimation is crucial for many applications in mobile robotics. Extending visual Simultaneous Localization and Mapping (SLAM) with other modalities such as an inertial measurement unit (IMU) can boost robustness and…

In this work, we present a novel ultrasonic array system designed for high-precision localization using a large-scale MIMO (Multiple-Input Multiple-Output) architecture. The system combines 32 transmitters with 62 microphones, creating an…

We present INDOOR-LIDAR, a comprehensive hybrid dataset of indoor 3D LiDAR point clouds designed to advance research in robot perception. Existing indoor LiDAR datasets often suffer from limited scale, inconsistent annotation formats, and…

This paper introduces a novel dataset for polyphonic sound event detection in urban sound monitoring use-cases. Based on isolated sounds taken from the FSD50k dataset, 20,000 polyphonic soundscapes are synthesized with sounds being randomly…

We address the problem of registering synchronized color (RGB) and multi-spectral (MS) images featuring very different resolution by solving stereo matching correspondences. Purposely, we introduce a novel RGB-MS dataset framing 13…

This paper presents an open-source aerial neuromorphic dataset that captures pedestrians and vehicles moving in an urban environment. The dataset, titled NU-AIR, features 70.75 minutes of event footage acquired with a 640 x 480 resolution…

In recent years, precision agriculture has been introducing groundbreaking innovations in the field, with a strong focus on automation. However, research studies in robotics and autonomous navigation often rely on controlled simulations or…

Sensor fusion is crucial for an accurate and robust perception system on autonomous vehicles. Most existing datasets and perception solutions focus on fusing cameras and LiDAR. However, the collaboration between camera and radar is…

Event cameras are bio-inspired vision sensors which measure per pixel brightness changes. They offer numerous benefits over traditional, frame-based cameras, including low latency, high dynamic range, high temporal resolution and low power…

For real-world applications, autonomous mobile robotic platforms must be capable of navigating safely in a multitude of different and dynamic environments with accurate and robust localization being a key prerequisite. To support further…

Humans can robustly recognize and localize objects by integrating visual and auditory cues. While machines are able to do the same now with images, less work has been done with sounds. This work develops an approach for dense semantic…

Lidar technology has evolved significantly over the last decade, with higher resolution, better accuracy, and lower cost devices available today. In addition, new scanning modalities and novel sensor technologies have emerged in recent…

This paper introduces a high-precision indoor positioning and tracking method that utilizes multi-site single-input single-output (SISO) radar systems. We propose a novel velocity synthesis-assisted (VSA) localization algorithm that…

The objective of the sound source localization task is to enable machines to detect the location of sound-making objects within a visual scene. While the audio modality provides spatial cues to locate the sound source, existing approaches…

Visual-inertial sensors have a wide range of applications in robotics. However, good performance often requires different sophisticated motion routines to accurately calibrate camera intrinsics and inter-sensor extrinsics. This work…