4 accepted papers
Self-localization of nodes in a sensor network is typically achieved using either range or direction measurements; in this paper, we show that a constructive combination of both improves the estimation. We propose two localization algorithms that make use of the differences between the sensors' coor…
In this paper, we consider the problem of jointly localizing a microphone array and identifying the direction of arrival of acoustic events. Under the assumption that the sources are in the far field, this problem can be formulated as a constrained low-rank matrix factorization with an unknown colum…
We study simultaneous localization and mapping with a device that uses reflections to measure its distance from walls. Such a device can be realized acoustically with a synchronized collocated source and receiver; it behaves like a bat with no capacity for directional hearing or vocalizing. In this…
We address the problem of jointly localizing a robot in an unknown room and estimating the room geometry from echoes. Unlike earlier work using echoes, we assume a completely autonomous setup with (near) collocated microphone and the acoustic source. We first introduce a simple, easy to analyze esti…