相关论文: Stabilized Adaptive Steering for 3D Sonar Micropho…

Real-time human motion reconstruction from a sparse set of (e.g. six) wearable IMUs provides a non-intrusive and economic approach to motion capture. Without the ability to acquire position information directly from IMUs, recent works took…

This paper presents virtual upmixing of steering vectors captured by a fewer-channel spherical microphone array. This challenge has conventionally been addressed by recovering the directions and signals of sound sources from first-order…

Near-field multiple-input multiple-output (MIMO) radar imaging suffers from high computational load inherently due to irregular spatial sampling with distributed antennas. Existing acceleration methods for near-field MIMO imaging typically…

For beamforming ultrasound (US) signals, typically a spatially constant speed-of-sound (SoS) is assumed to calculate delays. As SoS in tissue may vary relatively largely, this approximation may cause wavefront aberrations, thus degrading…

Multimodal sensor fusion methods for 3D object detection have been revolutionizing the autonomous driving research field. Nevertheless, most of these methods heavily rely on dense LiDAR data and accurately calibrated sensors which is often…

In the context of control of smart structures, we present an approach for state estimation of adaptive buildings with active load-bearing elements. For obtaining information on structural deformation, a system composed of a digital camera…

The combination of data from multiple sensors, also known as sensor fusion or data fusion, is a key aspect in the design of autonomous robots. In particular, algorithms able to accommodate sensor fusion techniques enable increased accuracy,…

Conventional ultrasound (US) imaging employs the delay and sum (DAS) receive beamforming with dynamic receive focus for image reconstruction due to its simplicity and robustness. However, the DAS beamforming follows a geometrical method of…

Autonomous vehicles (AVs) are poised to revolutionize the transportation industry by enhancing traffic efficiency and road safety. However, achieving optimal vehicular autonomy demands an uninterrupted and precise positioning solution,…

The joint optimization of sensor poses and 3D structure is fundamental for state estimation in robotics and related fields. Current LiDAR systems often prioritize pose optimization, with structure refinement either omitted or treated…

Temporal 3D human pose estimation from monocular videos is a challenging task in human-centered computer vision due to the depth ambiguity of 2D-to-3D lifting. To improve accuracy and address occlusion issues, inertial sensor has been…

Reliable real-time 3D localization is essential for multi-UAV navigation, collision avoidance, and coordinated flight, yet onboard estimates can degrade under GNSS multipath, non-line-of-sight reception, vertical drift, and intentional…

Ego-motion estimation is a fundamental requirement for most mobile robotic applications. By sensor fusion, we can compensate the deficiencies of stand-alone sensors and provide more reliable estimations. We introduce a tightly coupled…

Creating accurate and efficient 3D models poses significant challenges, particularly in addressing large viewpoint variations, computational complexity, and alignment discrepancies. Efficient camera path generation can help resolve these…

This paper proposes a low-cost six Degree-of-Freedom (6-DOF) navigation system for small aerial robots based on the integration of Global Position System (GPS) receiver with sensors of inertional Microelectromechanical Systems (MEMS). In…

Autonomous landing of Uncrewed Aerial Vehicles (UAVs) on oscillating marine platforms is severely constrained by wave-induced multi-frequency oscillations, wind disturbances, and prediction phase lags in motion prediction. Existing methods…

Fusing data from LiDAR and camera is conceptually attractive because of their complementary properties. For instance, camera images are higher resolution and have colors, while LiDAR data provide more accurate range measurements and have a…

The fundamental mechanism driving MIMO beamforming is the relative phases of signals departing the transmit array and arriving at the receive array. If a propagation channel affects all transmitted signals equally, the relative phases are a…

This paper addresses the problem of accurate localization for quadrupedal robots operating in narrow tunnel-like environments. Due to the long and homogeneous characteristics of such scenarios, LiDAR measurements often provide weak…

This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…