相关论文: PALMS: Plane-based Accessible Indoor Localization …
We present a fast, scalable, and accurate Simultaneous Localization and Mapping (SLAM) system that represents indoor scenes as a graph of objects. Leveraging the observation that artificial environments are structured and occupied by…
We introduce PRISM, a method for real-time filtering in a probabilistic generative model of agent motion and visual perception. Previous approaches either lack uncertainty estimates for the map and agent state, do not run in real-time, do…
To help improve the safety and accessibility of indoor spaces, researchers and health professionals have created assessment instruments that enable homeowners and trained experts to audit and improve homes. With advances in computer vision,…
Visual localization is a key technique to a variety of applications, e.g., autonomous driving, AR/VR, and robotics. For these real applications, both efficiency and accuracy are important especially on edge devices with limited computing…
When dedicated positioning systems, such as GPS, are unavailable, a mobile device has no choice but to fall back on its cellular network for localization. Due to random variations in the channel conditions to its surrounding base stations…
In this paper, we propose an accurate visible light indoor localization system for a smartphone using the existing commercial light-emitting diode (LED) luminaries. The proposed technique, called geometrical optics positioning algorithm…
In this study, we present a novel simultaneous localization and mapping (SLAM) system, VIMS, designed for underwater navigation. Conventional visual-inertial state estimators encounter significant practical challenges in perceptually…
In recent years, we have observed a clear trend in the rapid rise of autonomous vehicles, robotics, virtual reality, and augmented reality. The core technology enabling these applications, Simultaneous Localization And Mapping (SLAM),…
Global localization is essential for autonomous robotics, especially in indoor environments where the GPS signal is denied. We propose a novel WiFi-based localization framework that leverages ubiquitous wireless infrastructure and the…
Localization defines a term to describe the identifying process of a location within the space of two-dimensional (2D) space or three-dimensional (3D). A localization scheme is an important concern for connecting sensor nodes in remote…
Positional estimation is of great importance in the public safety sector. Emergency responders such as fire fighters, medical rescue teams, and the police will all benefit from a resilient positioning system to deliver safe and effective…
Palm recognition has emerged as a dominant biometric authentication technology in critical infrastructure. These systems operate in either single-modal form, using palmprint or palmvein individually, or dual-modal form, fusing the two…
Place Recognition enables the estimation of a globally consistent map and trajectory by providing non-local constraints in Simultaneous Localisation and Mapping (SLAM). This paper presents Locus, a novel place recognition method using 3D…
In many applications, maintaining a consistent map of the environment is key to enabling robotic platforms to perform higher-level decision making. Detection of already visited locations is one of the primary ways in which map consistency…
Lifelong localization in a given map is an essential capability for autonomous service robots. In this paper, we consider the task of long-term localization in a changing indoor environment given sparse CAD floor plans. The commonly used…
Place recognition is the fundamental module that can assist Simultaneous Localization and Mapping (SLAM) in loop-closure detection and re-localization for long-term navigation. The place recognition community has made astonishing progress…
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…
In this paper, we present an acoustic localization system for multiple devices. In contrast to systems which localise a device relative to one or several anchor points, we focus on the joint localisation of several devices relative to each…
We introduce a novel technique and an associated high resolution dataset that aims to precisely evaluate wireless signal based indoor positioning algorithms. The technique implements an augmented reality (AR) based positioning system that…
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…