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Sensor data acquired from multiple sensors simultaneously is featuring increasingly in our evermore pervasive world. Buildings can be made smarter and more efficient, spaces more responsive to users. A fundamental building block towards smart spaces is the ability to understand who is present in a certain area. A ubiquitous way of detecting this is to exploit the unique vocal features as people interact...
The goal of human-robot motion retargeting is to let a robot follow the movements performed by a human subject. This is traditionally achieved by applying the estimated poses from a human pose tracking system to a robot via explicit joint mapping strategies. In this paper, we present a novel approach that combine the human pose estimation and the motion retarget procedure in a unified generative framework...
This paper studies a single beacon-based three-dimensional multirobot localization (MRL) problem. Unlike most of existing localization algorithms which use extended Kalman filter or maximum a posteriori, moving horizon estimation (MHE), and convex optimization are novelly designed to perform MRL with constraints and unknown initial poses. The main contribution of this paper is three-fold: 1) a constrained...
This paper studies three-dimensional multi-robot Cooperative Localization (CL) problem. Most of existing CL strategies adopt Extended Kalman Filter (EKF) or Maximum a Posteriori (MAP). In this paper, a novel approach based on Moving Horizon Estimation (MHE) is proposed. The main contribution of this paper is twofold: 1) MHE is integrated with EKF for three-dimensional CL using single mobile beacon,...
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