Hala Abualsaud

2 accepted papers

2025

3D TDOA-AOA Quaternion Based Acoustic SLAM for Drone Localization and Source Mapping

ICASSP 2025accepted

This paper focuses on improving 3D sound mapping using acoustic simultaneous localization and mapping (SLAM), angle of arrival (AOA), and time difference of arrival (TDOA). We use quaternion for orientation tracking. Through simulations involving a drone equipped with microphone arrays and an inerti…

Cited by 0 Source ↗Scholar ↗

2021

LaneAF: Robust Multi-Lane Detection With Affinity Fields

Hala Abualsaud, Sean Liu, David Lu, Kenny Situ, Akshay Rangesh, Mohan M. Trivedi

RA-L 2021

This study presents an approach to lane detection involving the prediction of binary segmentation masks and per-pixel affinity fields. These affinity fields, along with the binary masks, can then be used to cluster lane pixels horizontally and vertically into corresponding lane instances in a post-p

Cited by 143 Source ↗code ↗Scholar ↗