相关论文: On fusing active and passive acoustic sensing for …
Simultaneous mapping and localization (SLAM) in an real indoor environment is still a challenging task. Traditional SLAM approaches rely heavily on low-level geometric constraints like corners or lines, which may lead to tracking failure in…
Spatial sampling is traditionally studied in a static setting where static sensors scattered around space take measurements of the spatial field at their locations. In this paper we study the emerging paradigm of sampling and reconstructing…
To accurately estimate locations and velocities of surrounding targets (cars) is crucial for advanced driver assistance systems based on radar sensors. In this paper we derive methods for fusing data from multiple radar sensors in order to…
Exploration in unknown and unstructured environments is a pivotal requirement for robotic applications. A robot's exploration behavior can be inherently affected by the performance of its Simultaneous Localization and Mapping (SLAM)…
This chapter focuses on active sensing using sparse arrays. In active sensing applications, such as radar, sonar, wireless communications, and medical ultrasound, a collection of sensors probes the environment by emitting self-generated…
Precise indoor localization remains a challenging problem for a variety of essential applications. A promising approach to address this problem is to exchange radio signals between mobile agents and static physical anchors (PAs) that bounce…
Passive Acoustic Monitoring (PAM) is an efficient and non-invasive method for surveying ecosystems at a reduced cost. Typically, autonomous recorders allow the acquisition of vast bioacoustic datasets which are then analyzed. However, power…
Modern robotic systems sense the environment geometrically, through sensors like cameras, lidar, and sonar, as well as semantically, often through visual models learned from data, such as object detectors. We aim to develop robots that can…
Mobile robots require basic information to navigate through an environment: they need to know where they are (localization) and they need to know where they are going. For the latter, robots need a map of the environment. Using sensors of a…
A crucial limitation of current high-resolution 3D photoacoustic tomography (PAT) devices that employ sequential scanning is their long acquisition time. In previous work, we demonstrated how to use compressed sensing techniques to improve…
For centuries researchers have used sound to monitor and study wildlife. Traditionally, conservationists have identified species by ear; however, it is now common to deploy audio recording technology to monitor animal and ecosystem sounds.…
In recent decades, visual simultaneous localization and mapping (vSLAM) has gained significant interest in both academia and industry. It estimates camera motion and reconstructs the environment concurrently using visual sensors on a moving…
Recent trends have accelerated the development of spatial applications on mobile devices and robots. These include navigation, augmented reality, human-robot interaction, and others. A key enabling technology for such applications is the…
Visual simultaneous localization and mapping (VSLAM) has broad applications, with state-of-the-art methods leveraging deep neural networks for better robustness and applicability. However, there is a lack of research in fusing these…
Active sensing refers to the process of choosing or tuning a set of sensors in order to track an underlying system in an efficient and accurate way. In a wireless environment, among the several kinds of features extracted by traditional…
Most classical SLAM systems rely on the static scene assumption, which limits their applicability in real world scenarios. Recent SLAM frameworks have been proposed to simultaneously track the camera and moving objects. However they are…
A tracking system that will be used for Augmented Reality (AR) applications has two main requirements: accuracy and frame rate. The first requirement is related to the performance of the pose estimation algorithm and how accurately the…
It is argued based on the results of both numerical modelling and the experiments performed on an artificial substitute of a meadow that the sound emitted by animals living in a dense surrounding such as a meadow or shrubs can be used as a…
There is a widely-accepted need to revise current forms of health-care provision, with particular interest in sensing systems in the home. Given a multiple-modality sensor platform with heterogeneous network connectivity, as is under…
We present an empirical investigation of a new mapping system based on a graph of panoramic depth images. Panoramic images efficiently capture range measurements taken by a spinning lidar sensor, recording fine detail on the order of a few…