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Recent multi-camera 3D object detectors usually leverage temporal information to construct multi-view stereo that alleviates the ill-posed depth estimation. However, they typically assume all the objects are static and directly aggregate…
Localizing smartphones in indoor environments offers excellent opportunities for e-commerce. In this paper, we propose a localization technique for smartphones in indoor environments. This technique can calculate the coordinates of a…
Long-horizon whole-body humanoid teleoperation remains challenging due to accumulated global pose drift, particularly on full-sized humanoids. Although recent learning-based tracking methods enable agile and coordinated motions, they…
Advanced wearable sensor devices have enabled the recording of vast amounts of movement data from individuals regarding their physical activities. This data offers valuable insights that enhance our understanding of how physical activities…
Phone applications to track vehicle information have become more common place, providing insights into fuel consumption, vehicle status, and sustainable driving behaviorsHowever, to test what resonates with drivers without deep vehicle…
The use of gait for person identification has important advantages such as being non-invasive, unobtrusive, not requiring cooperation and being less likely to be obscured compared to other biometrics. Existing methods for gait recognition…
This paper proposes a data-driven motion-planning framework for nonlinear systems that constructs a sequence of overlapping invariant polytopes. Around each randomly sampled waypoint, the algorithm identifies a convex admissible region and…
We propose a mobility-assisted on-demand routing algorithm for mobile ad hoc networks in the presence of location errors. Location awareness enables mobile nodes to predict their mobility and enhances routing performance by estimating link…
Dynamic obstacle avoidance is one crucial component for compliant navigation in crowded environments. In this paper we present a system for accurate and reliable detection and tracking of dynamic objects using noisy point cloud data…
The use of wearable and mobile devices for health monitoring and activity recognition applications is increasing rapidly. These devices need to maximize their accuracy and active time under a tight energy budget imposed by battery and small…
The problem of unicity and reidentifiability of records in large-scale databases has been studied in different contexts and approaches, with focus on preserving privacy or matching records from different data sources. With an increasing…
High-resolution location ("heartbeat") data of transit fleet vehicles is a relatively new data source for many transit agencies. On its surface, the heartbeat data can provide a wealth of information about all operational details of a…
Background: Many attempts to validate gait pipelines that process sensor data to detect gait events have focused on the detection of initial contacts only in supervised settings using a single sensor. Objective: To evaluate the performance…
Today, mobile robots are expected to carry out increasingly complex tasks in multifarious, real-world environments. Often, the tasks require a certain semantic understanding of the workspace. Consider, for example, spoken instructions from…
For industrial product design, it is very important to take into account assembly/disassembly and maintenance operations during the conceptual and prototype design stage. For these operations or other similar operations in a constrained…
Telematics data is becoming increasingly available due to the ubiquity of devices that collect data during drives, for different purposes, such as usage based insurance (UBI), fleet management, navigation of connected vehicles, etc.…
Multi-object Tracking (MOT) generally can be split into two sub-tasks, i.e., detection and association. Many previous methods follow the tracking by detection paradigm, which first obtain detections at each frame and then associate them…
This study presents a dynamic safety margin-based reinforcement learning framework for local motion planning in dynamic and uncertain environments. The proposed planner integrates real-time trajectory optimization with adaptive gap…
Object reconstruction and inspection tasks play a crucial role in various robotics applications. Identifying paths that reveal the most unknown areas of the object is paramount in this context, as it directly affects reconstruction…
This paper presents an effective and reliable pose tracking solution, termed ERPoT, for mobile robots operating in large-scale outdoor and challenging indoor environments, underpinned by an innovative prior polygon map. Especially, to…