相关论文: Robust Global Localization Using Clustered Particl…

Parking slot detection is an essential technology in autonomous parking systems. In general, the classification problem of parking slot detection consists of two tasks, a task determining whether localized candidates are junctions of…

The last few decades have witnessed a growing interest in location-based services. Using localization systems based on Radio Frequency (RF) signals has proven its efficacy for both indoor and outdoor applications. However, challenges remain…

In outdoor environments, mobile robots are required to navigate through terrain with varying characteristics, some of which might significantly affect the integrity of the platform. Ideally, the robot should be able to identify areas that…

Object placement in robotic tasks is inherently challenging due to the diversity of object geometries and placement configurations. To address this, we propose AnyPlace, a two-stage method trained entirely on synthetic data, capable of…

Localization is a fundamental enabler technology for many applications, like vehicular networks, IoT, and even medicine. While Global Navigation Satellite Systems solutions offer great performance, they are unavailable in scenarios like…

Place recognition is a critical component in robot navigation that enables it to re-establish previously visited locations, and simultaneously use this information to correct the drift incurred in its dead-reckoned estimate. In this work,…

This study considers the object localization problem and proposes a novel multiparticle Kalman filter to solve it in complex and symmetric environments. Two well-known classes of filtering algorithms to solve the localization problem are…

The cooperative localization (CL) problem in heterogeneous robotic systems with different measurement capabilities is investigated in this work. In practice, heterogeneous sensors lead to directed and sparse measurement topologies, whereas…

This study introduces the Misclassification Likelihood Matrix (MLM) as a novel tool for quantifying the reliability of neural network predictions under distribution shifts. The MLM is obtained by leveraging softmax outputs and clustering…

Training the parameters of statistical models to describe a given data set is a central task in the field of data mining and machine learning. A very popular and powerful way of parameter estimation is the method of maximum likelihood…

Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…

Consider unsupervised clustering of objects drawn from a discrete set, through the use of human intelligence available in crowdsourcing platforms. This paper defines and studies the problem of universal clustering using responses of crowd…

In this paper, a cooperative localization algorithm is proposed that considers the existence of obstacles in mobilityassisted wireless sensor networks (WSNs). In this scheme, a mobile anchor (MA) node cooperates with static sensor nodes and…

To conduct Bayesian inference with large data sets, it is often convenient or necessary to distribute the data across multiple machines. We consider a likelihood function expressed as a product of terms, each associated with a subset of the…

Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…

Facility and covering location models are key elements in many decision aid tools in logistics, supply chain design, telecommunications, public infrastructure planning, and many other industrial and public sectors. In many applications, it…

We present PLUMES, a planner to localizing and collecting samples at the global maximum of an a priori unknown and partially observable continuous environment. The "maximum-seek-and-sample" (MSS) problem is pervasive in the environmental…

Clustering is a widely used unsupervised learning method for finding structure in the data. However, the resulting clusters are typically presented without any guarantees on their robustness; slightly changing the used data sample or…

In many safety-critical applications such as autonomous driving and surgical robots, it is desirable to obtain prediction uncertainties from object detection modules to help support safe decision-making. Specifically, such modules need to…

Simultaneous localization and mapping (SLAM) are essential in numerous robotics applications, such as autonomous navigation. Traditional SLAM approaches infer the metric state of the robot along with a metric map of the environment. While…