相关论文: SLAM-based Joint Calibration of Multiple Asynchron…

Simultaneous Localization and Mapping (SLAM) has been considered as a solved problem thanks to the progress made in the past few years. However, the great majority of LiDAR-based SLAM algorithms are designed for a specific type of payload…

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…

Parametric sound field synthesis methods, such as the Spatial Decomposition Method (SDM) and Higher-Order Spatial Impulse Response Rendering (HO-SIRR), are widely used for the analysis and auralization of sound fields. This paper studies…

Human-robot interaction in natural settings requires filtering out the different sources of sounds from the environment. Such ability usually involves the use of microphone arrays to localize, track and separate sound sources online.…

Simultaneous localization and mapping (SLAM) plays a critical role in integrated sensing and communication (ISAC) systems for sixth-generation (6G) millimeter-wave (mmWave) networks, enabling environmental awareness and precise user…

This paper solves the classical problem of simultaneous localization and mapping (SLAM) in a fashion which avoids linearized approximations altogether. Based on creating virtual synthetic measurements, the algorithm uses a linear time-…

Multipath-based simultaneous localization and mapping (MP-SLAM) is a promising approach for future 6G networks to jointly estimate the positions of transmitters and receivers together with the propagation environment. In cooperative…

As autonomous systems increasingly rely on onboard sensing for localization and perception, the parallel tasks of motion planning and state estimation become more strongly coupled. This coupling is well-captured by augmenting the planning…

Visual place recognition techniques based on deep learning, which have imposed themselves as the state-of-the-art in recent years, do not generalize well to environments visually different from the training set. Thus, to achieve top…

Fusing outputs from automatic speaker verification (ASV) and spoofing countermeasure (CM) is expected to make an integrated system robust to zero-effort imposters and synthesized spoofing attacks. Many score-level fusion methods have been…

Microphone array post-filters have demonstrated their ability to greatly reduce noise at the output of a beamformer. However, current techniques only consider a single source of interest, most of the time assuming stationary background…

This paper describes a versatile method that accelerates multichannel source separation methods based on full-rank spatial modeling. A popular approach to multichannel source separation is to integrate a spatial model with a source model…

Visual SLAM (Simultaneous Localization and Mapping) based on planar features has found widespread applications in fields such as environmental structure perception and augmented reality. However, current research faces challenges in…

This paper presents a method to reconstruct the 3D structure of generic convex rooms from sound signals. Differently from most of the previous approaches, the method is fully uncalibrated in the sense that no knowledge about the microphones…

This paper addresses the problem of multiple-speaker localization in noisy and reverberant environments, using binaural recordings of an acoustic scene. A Gaussian mixture model (GMM) is adopted, whose components correspond to all the…

Despite recent advances in semantic Simultaneous Localization and Mapping (SLAM) for terrestrial and aerial applications, underwater semantic SLAM remains an open and largely unaddressed research problem due to the unique sensing modalities…

Simultaneous Localization and Mapping (SLAM) algorithms are frequently deployed to support a wide range of robotics applications, such as autonomous navigation in unknown environments, and scene mapping in virtual reality. Many of these…

In this paper, we propose an novel implementation of a simultaneous localization and mapping (SLAM) system based on a monocular camera from an unmanned aerial vehicle (UAV) using Depth prediction performed with Capsule Networks (CapsNet),…

This paper investigates the performance of Binaural Signal Matching (BSM) methods for near-field sound reproduction using a wearable glasses-mounted microphone array. BSM is a flexible, signal-independent approach for binaural rendering…

We investigate a scenario where a chaser spacecraft or satellite equipped with a monocular camera navigates in close proximity to a target spacecraft. The satellite's primary objective is to construct a representation of the operational…