相关论文: Inverse k-visibility for RSSI-based Indoor Geometr…

Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems. A significant limitation of existing approaches is the computational bottleneck associated with explicit mapping and the limited field…

We propose a scene-level inverse rendering framework that uses multi-view images to decompose the scene into geometry, a SVBRDF, and 3D spatially-varying lighting. Because multi-view images provide a variety of information about the scene,…

Reconfigurable Intelligent Surfaces (RISs) promise improved, secure and more efficient wireless communications. We propose and demonstrate how to exploit the diversity offered by RISs to generate and select easily differentiable radio maps…

In this paper, we focus on the potential use of unmanned aerial vehicles (UAVs) for search and rescue (SAR) missions in GPS-denied indoor environments. We consider the problem of navigating a UAV to a wireless signal source, e.g., a…

Interpolating missing data in k-space is essential for accelerating imaging. However, existing methods, including convolutional neural network-based deep learning, primarily exploit local predictability while overlooking the inherent global…

A transmitting intelligent surfaces (TISs) aided satellite indoor navigation system is investigated. By leveraging the unique features of TIS, we address the limitations of conventional global navigation satellite systems (GNSS) in…

Robot localization is an inverse problem of finding a robot's pose using a map and sensor measurements. In recent years, Invertible Neural Networks (INNs) have successfully solved ambiguous inverse problems in various fields. This paper…

We propose a new approach towards RSS (Received Signal Strength) based wireless localisation for scenarios where, instead of absolute positioning of an object, only the information whether an object is inside or outside of a specific area…

This thesis presents a solution that enables aerial robots to reason about surrounding wind flow fields in real time using on board sensors and embedded flight hardware. The core novelty of this research is the fusion of range measurements…

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…

Place recognition plays an important role in achieving robust long-term autonomy. Real-world robots face a wide range of weather conditions (e.g. overcast, heavy rain, and snowing) and most sensors (i.e. camera, LiDAR) essentially…

This paper presents the design, implementation and evaluation of milliMap, a single-chip millimetre wave (mmWave) radar based indoor mapping system targetted towards low-visibility environments to assist in emergency response. A unique…

This paper present our new intensity chromaticity space-based feature detection and matching algorithm. This approach utilizes hybridization of wireless local area network and camera internal sensor which to receive signal strength from a…

We present a system for creating building-scale, easily navigable 3D maps using mainstream smartphones. In our approach, we formulate the 3D-mapping problem as an instance of Graph SLAM and infer the position of both building landmarks…

Robots are increasingly operating in indoor environments designed for and shared with people. However, robots working safely and autonomously in uneven and unstructured environments still face great challenges. Many modern indoor…

Many applications require accurate indoor localization. Fingerprint-based localization methods propose a solution to this problem, but rely on a radio map that is effort-intensive to acquire. We automate the radio map acquisition phase…

Wireless sensor networks are dynamically formed over the varying topologies. Wireless sensor networks can assist in conducting the rescue operations and can provide search in timely manner. Long time monitoring applications are environment…

Large-scale multi-session LiDAR mapping is essential for a wide range of applications, including surveying, autonomous driving, crowdsourced mapping, and multi-agent navigation. However, existing approaches often struggle with data…

WLAN Device-free passive DfP indoor localization is an emerging technology enabling the localization of entities that do not carry any devices nor participate actively in the localization process using the already installed wireless…

Room geometry inference (RGI) aims at estimating room shapes from measured room impulse responses (RIRs) and has received lots of attention for its importance in environment-aware audio rendering and virtual acoustic representation of a…