相关论文: Conical Localization via Modified Polar Representa…

This paper focuses on static source localization employing different combinations of measurements, including time-difference-of-arrival (TDOA), received-signal-strength (RSS), angle-of-arrival (AOA), and time-of-arrival (TOA) measurements.…

This manuscript is a preliminary pre-print version of a journal submission by the authors, revisiting the problem of range measurement based localization of a signal source or a sensor. The major geometric difficulty of the problem comes…

Navigation of a mobile robot is conditioned on the knowledge of its pose. In observer-based localisation configurations its initial pose may not be knowable in advance, leading to the need of its estimation. Solutions to the problem of…

Visual Place Recognition (VPR) is a scene-oriented image retrieval problem in computer vision in which re-ranking based on local features is commonly employed to improve performance. In robotics, VPR is also referred to as Loop Closure…

In this paper, we consider the problem of planar graph-based simultaneous localization and mapping (SLAM) that involves both poses of the autonomous agent and positions of observed landmarks. We present CPL-SLAM, an efficient and…

This work introduces a method to select linear functional measurements of a vector-valued time series optimized for forecasting distant time-horizons. By formulating and solving the problem of sequential linear measurement design as an…

This paper studies a networked sensing system with multiple base stations (BSs), which collaboratively sense the unknown and random three-dimensional (3D) location of a target based on the target-reflected echo signals received at the BSs.…

Conventional speaker localization algorithms, based merely on the received microphone signals, are often sensitive to adverse conditions, such as: high reverberation or low signal to noise ratio (SNR). In some scenarios, e.g. in meeting…

Autonomous driving and intelligent transportation applications have dramatically increased the demand for high-accuracy and low-latency localization services. While cellular networks are potentially capable of target detection and…

Mapping is crucial in robotics for localization and downstream decision-making. As robots are deployed in ever-broader settings, the maps they rely on continue to increase in size. However, storing these maps indefinitely (cold storage),…

This letter proposes an algebraic solution for the problem of 3-D source localization utilizing the minimum number of measurements, i.e., one Time Difference of Arrival (TDOA) and one Angle of Arrival (AOA) pair. The proposed method employs…

Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…

Accurate and reliable localization is crucial for various wireless communication applications. Numerous studies have proposed accurate localization methods using hybrid received signal strength (RSS) and angle of arrival (AOA) measurements.…

Mutual localization provides a consensus of reference frame as an essential basis for cooperation in multirobot systems. Previous works have developed certifiable and robust solvers for relative transformation estimation between each pair…

Line features are valid complements for point features in man-made environments. 3D-2D constraints provided by line features have been widely used in Visual Odometry (VO) and Structure-from-Motion (SfM) systems. However, how to accurately…

A standard paradigm of localization microscopy involves extension from two to three dimensions by engineering information into emitter images, and approximation of errors resulting from the field dependence of optical aberrations. We invert…

With the recent development of technology, wireless sensor networks (WSN) are becoming an important part of many applications. Knowing the exact location of each sensor in the network is very important issue. Therefore, the localization…

The ability of a sensor node to determine its location in a sensor network is important in many applications. The infrastructure for the location-based services is an easy target for malicious attacks. We address scenarios where malicious…

A popular method to estimate the positions or directions-of-arrival (DOAs) of multiple sound sources using an array of microphones is based on steered-response power (SRP) beamforming. For a three-dimensional scenario, SRP-based methods…

This paper studies a multiple intelligent reflecting surfaces (IRSs) collaborative localization system where multiple semi-passive IRSs are deployed in the network to locate one or more targets based on time-of-arrival. It is assumed that…