Disorder-Free Localization

Device-Free Passive Localization

This report describes a Device-Free Passive Localization System (DfP). The system provides a software solution over nominal WiFi equipment to detect the presence and track intruders in an area of interest. The system is based on measuring the changes in the received RSSI at a fixed receiver form a fixed transmitter. Using RSSI values for multiple transmitters and monitoring points, we show a sy...

Infrastructure Free Rover Localization

This paper introduces a system applicable to autonomous planetary exploration rovers that provides localization in the inevitable absence of a Global Positioning System (GPS). Given a terrain elevation map previously constructed from satellite imagery, the proposed method determines rover pose using new imagery from an onboard stereo camera system by combining visual odometry, 3D terrain matchi...

Range-Free Localization

Advances in micro-electro-mechanical systems have triggered an enormous interest in wireless sensor networks (WSN). WSN are formed by large numbers of densely deployed nodes enabled with sensing and actuating capabilities. These nodes have very limited processing and memory capabilities, limited energy resources and it is envisioned that they will be mass produced, to reduce costs. Several chal...

Free-Shape Polygonal Object Localization

Polygonal objects are prevalent in man-made scenes. Early approaches to detecting them relied mainly on geometry while subsequent ones also incorporated appearance-based cues. It has recently been shown that this could be done fast by searching for cycles in graphs of line-fragments, provided that the cycle scoring function can be expressed as additive terms attached to individual fragments. In...

Lecture 6 : Device - Free Localization