相关论文: A Miniature Vision-Based Localization System for I…
Crime is a critical problem -- which often takes place behind closed doors, posing additional difficulties for investigators. To bring hidden truths to light, evidence at indoor crime scenes must be documented before any contamination or…
Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…
The paper presents an approach to indoor personal localization on a mobile device based on visual place recognition. We implemented on a smartphone two state-of-the-art algorithms that are representative to two different approaches to…
We propose a framework that allows a mobile robot to build a map of an indoor scenario, identifying and highlighting objects that may be considered a hindrance to people with limited mobility. The map is built by combining recent…
This paper presents LIPS, a Light Intensity based Positioning System for indoor environments. The system uses off-the-shelf LED lamps as signal sources, and uses light sensors as signal receivers. The design is inspired by the observation…
Indoor navigation remains a complex challenge due to the absence of reliable GPS signals and the architectural intricacies of large enclosed environments. This study presents an indoor localization and navigation approach that integrates…
We implemented a system able to locate people indoor, with the purpose of providing assistive services. Such approach is particularly important for the Art, for providing information on exhibitions, art galleries and museums, and to allow…
Vision-based localization approaches now underpin newly emerging navigation pipelines for myriad use cases from robotics to assistive technologies. Compared to sensor-based solutions, vision-based localization does not require pre-installed…
This paper presents an approach for visible light communication-based indoor positioning using compressed sensing. We consider a large number of light emitting diodes (LEDs) simultaneously transmitting their positional information and a…
Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…
In robotic applications, we often face the challenge of discovering new objects while having very little or no labelled training data. In this paper we explore the use of self-supervision provided by a robot traversing an environment to…
Testing aerial robots in tasks such as pickup-and-delivery and surveillance significantly benefits from high energy efficiency and scalability of the deployed robotic system. This paper presents MochiSwarm, an open-source testbed of…
An increasing number of systems use indoor positioning for many scenarios such as asset tracking, health care, games, manufacturing, logistics, shopping, and security. Many technologies are available and the use of depth cameras is becoming…
Estimating the precise location of a camera using visual localization enables interesting applications such as augmented reality or robot navigation. This is particularly useful in indoor environments where other localization technologies,…
The existing localization systems for indoor applications basically rely on wireless signal. With the massive deployment of low-cost cameras, the visual image based localization become attractive as well. However, in the existing…
Visible light positioning(VLP) has gained prominence as a highly accurate indoor positioning technique. Few techniques consider the practical limitations of implementing VLP systems for indoor positioning. These limitations range from…
Traditionally, there have been few options for navigational aids for the blind and visually impaired (BVI) in large indoor spaces. Some recent indoor navigation systems allow users equipped with smartphones to interact with low cost…
We study the task of locating a user in a mapped indoor environment using natural language queries and images from the environment. Building on recent pretrained vision-language models, we learn a similarity score between text descriptions…
Indoor navigation is challenging due to the absence of satellite positioning. This challenge is manifold greater for Visually Impaired People (VIPs) who lack the ability to get information from wayfinding signage. Other sensor signals…
We present UbiSLAM, an innovative solution for real-time mapping and localization in dynamic indoor environments. By deploying a network of fixed RGB-D cameras strategically throughout the workspace, UbiSLAM addresses limitations commonly…