相关论文: Terrain Sensing with Smartphone Structured Light: …
Autonomous locomotion for mobile ground robots in unstructured environments such as waypoint navigation or flipper control requires a sufficiently accurate prediction of the robot-terrain interaction. Heuristics like occupancy grids or…
Due to budgetary constraints, indoor navigation typically employs 2D LiDAR rather than 3D LiDAR. However, the utilization of 2D LiDAR in Simultaneous Localization And Mapping (SLAM) frequently encounters challenges related to motion…
Recent advancements in legged robot perceptive locomotion have shown promising progress. However, terrain-aware humanoid locomotion remains largely constrained to two paradigms: depth image-based end-to-end learning and elevation map-based…
The Dynamic Time Warping (DTW) is a popular similarity measure between time series. The DTW fails to satisfy the triangle inequality and its computation requires quadratic time. Hence, to find closest neighbors quickly, we use bounding…
Direct time-of-flight (dToF) sensors are promising for next-generation on-device 3D sensing. However, limited by manufacturing capabilities in a compact module, the dToF data has a low spatial resolution (e.g., $\sim 20\times30$ for iPhone…
Atmospheric turbulence in long-range imaging significantly degrades the quality and fidelity of captured scenes due to random variations in both spatial and temporal dimensions. These distortions present a formidable challenge across…
Accurate beam alignment is a critical challenge in XL-MIMO systems, especially in the near-field regime, where conventional far-field assumptions no longer hold. Although 2D grid-based codebooks in the polar domain are widely accepted for…
The identification and modeling of the terrain from point cloud data is an important component of Terrestrial Remote Sensing (TRS) applications. The main focus in terrain modeling is capturing details of complex geological features of…
Attaining animal-like legged locomotion on rough outdoor terrain with sparse foothold affordances -a primary use-case for legs vs other forms of locomotion- is a largely open problem. New advancements in control and perception have enabled…
Recently, round-trip time (RTT) measured by a fine-timing measurement protocol has received great attention in the area of WiFi positioning. It provides an acceptable ranging accuracy in favorable environments when a line-of-sight (LOS)…
Dynamic Mode Decomposition (DMD) is a powerful data-driven method used to extract spatio-temporal coherent structures that dictate a given dynamical system. The method consists of stacking collected temporal snapshots into a matrix and…
Low-cost millimeter automotive radar has received more and more attention due to its ability to handle adverse weather and lighting conditions in autonomous driving. However, the lack of quality datasets hinders research and development. We…
The Dynamic Time Warping (DTW) distance is a popular similarity measure for polygonal curves (i.e., sequences of points). It finds many theoretical and practical applications, especially for temporal data, and is known to be a robust,…
In recent years, non-intrusive load monitoring (NILM) technology has attracted much attention in the related research field by virtue of its unique advantage of utilizing single meter data to achieve accurate decomposition of device-level…
Mobile robot platforms are increasingly being used to automate information gathering tasks such as environmental monitoring. Efficient target tracking in dynamic environments is critical for applications such as search and rescue and…
Modeling the wireless radiance field (WRF) is fundamental to modern communication systems, enabling key tasks such as localization, sensing, and channel estimation. Traditional approaches, which rely on empirical formulas or physical…
Accurate traffic forecasting is essential for effective urban planning and congestion management. Deep learning (DL) approaches have gained colossal success in traffic forecasting but still face challenges in capturing the intricacies of…
An active-sensing-based learning algorithm is proposed to solve the near-field beam alignment problem with the aid of wavenumber-domain transform matrices (WTMs). Specifically, WTMs can transform the antenna-domain channel into a sparse…
Existing roadside perception systems are limited by the absence of publicly available, large-scale, high-quality 3D datasets. Exploring the use of cost-effective, extensive synthetic datasets offers a viable solution to tackle this…
Navigation of wheeled vehicles on uneven terrain necessitates going beyond the 2D approaches for trajectory planning. Specifically, it is essential to incorporate the full 6dof variation of vehicle pose and its associated stability cost in…