Visual odometry is crucial for many robotic tasks such as autonomous exploration and path planning. Despite many progresses, existing methods are still not robust enough to dynamic illumination environments. In this paper, we present AirVO, an illumination-robust and accurate stereo visual odometry system based on point and line features. To be robust to illumination variation, we introduce the learning-based feature extraction and matching method and design a novel VO pipeline, including feature tracking, triangulation, key-frame selection, and graph optimization etc. We also employ long line features in the environment to improve the accuracy of the system. Different from the traditional line processing pipelines in visual odometry systems, we propose an illumination-robust line tracking method, where point feature tracking and distribution of point and line features are utilized to match lines. In the experiments, the proposed system is extensively evaluated in environments with dynamic illumination and the results show that it achieves superior performance to the state-of-the-art algorithms.

Despite recent progress on trajectory planning of multiple robots and path planning of a single tethered robot, planning of multiple tethered robots to reach their individual targets without entanglements remains a challenging problem. In this paper, we present a complete approach to address this problem. Firstly, we propose a multi-robot tether-aware representation of homotopy, using which we can efficiently evaluate the feasibility and safety of a potential path in terms of (1) the cable length required to reach a target following the path, and (2) the risk of entanglements with the cables of other robots. Then, the proposed representation is applied in a decentralized and online planning framework that includes a graph-based kinodynamic trajectory finder and an optimization-based trajectory refinement, to generate entanglement-free, collision-free and dynamically feasible trajectories. The efficiency of the proposed homotopy representation is compared against existing single and multiple tethered robot planning approaches. Simulations with up to 8 UAVs show the effectiveness of the approach in entanglement prevention and its real-time capabilities. Flight experiments using 3 tethered UAVs verify the practicality of the presented approach.

While feature association to a global map has significant benefits, to keep the computations from growing exponentially, most lidar-based odometry and mapping methods opt to associate features with local maps at one voxel scale. Taking advantage of the fact that surfels (surface elements) at different voxel scales can be organized in a tree-like structure, we propose an octree-based global map of multi-scale surfels that can be updated incrementally. This alleviates the need for recalculating, for example, a k-d tree of the whole map repeatedly. The system can also take input from a single or a number of sensors, reinforcing the robustness in degenerate cases. We also propose a point-to-surfel (PTS) association scheme, continuous-time optimization on PTS and IMU preintegration factors, along with loop closure and bundle adjustment, making a complete framework for Lidar-Inertial continuous-time odometry and mapping. Experiments on public and in-house datasets demonstrate the advantages of our system compared to other state-of-the-art methods. To benefit the community, we release the source code and dataset at https://github.com/brytsknguyen/slict.

近年来，由渠道状态信息（CSI）启用了基于WiFi的智能人类传感技术（CSI）。但是，在不同的环境中部署时，基于CSI的传感系统会遭受性能降解。现有作品通过使用新环境中的大量未标记的高质量数据来通过域的适应来解决这一问题，这在实践中通常不可用。在本文中，我们提出了一种新颖的增强环境不变的鲁棒wifi wifi识别系统，名为Airfi，该系统从新的角度涉及环境依赖问题。 Airfi是一个新颖的领域泛化框架，无论环境如何，都可以学习CSI的关键部分，并将模型推广到看不见的场景，不需要收集任何数据以适应新环境。 Airfi从几个培训环境环境中提取了共同的功能，并最大程度地减少了它们之间的分布差异。该功能将进一步增强，以使环境更强大。此外，可以通过几次学习技术进一步改进该系统。与最先进的方法相比，Airfi能够在不同的环境环境中工作，而无需从新环境中获取任何CSI数据。实验结果表明，我们的系统在新环境中保持强大，并优于比较系统。

作为人类识别的重要生物标志物，可以通过被动传感器在没有主题合作的情况下以远距离收集人步态，这在预防犯罪，安全检测和其他人类识别应用中起着至关重要的作用。目前，大多数研究工作都是基于相机和计算机视觉技术来执行步态识别的。但是，在面对不良的照明时，基于视觉的方法并不可靠，导致性能降解。在本文中，我们提出了一种新型的多模式步态识别方法，即gaitfi，该方法利用WiFi信号和视频进行人类识别。在GAITFI中，收集了反映WiFi多路径传播的通道状态信息（CSI），以捕获人体步态，而视频则由相机捕获。为了了解强大的步态信息，我们建议使用轻量级残留卷积网络（LRCN）作为骨干网络，并通过集成WiFi和Vision功能来进一步提出两流性gaitfi，以进行步态检索任务。通过在不同级别的特征上的三胞胎损失和分类损失进行训练。广泛的实验是在现实世界中进行的，该实验表明，基于单个WiFi或摄像机的GAITFI优于最先进的步态识别方法，对于12个受试者的人类识别任务而达到94.2％。

阿凡达（Avatar）是指虚拟世界中物理用户的代表，该代表可以从事不同的活动并与Metaverse中的其他对象进行交互。模拟化身需要准确的人类姿势估计。尽管基于摄像头的解决方案产生了出色的性能，但它们遇到了隐私问题，并因不同的照明而引起的性能退化，尤其是在智能家居中。在本文中，我们提出了一种基于WiFi的IOT基于Metavers Avatar模拟的人类姿势估计方案，即Metafi。具体而言，深度神经网络设计具有定制的卷积层和残留块，以将渠道状态信息映射到人体姿势地标。它被强制从准确的计算机视觉模型中学习注释，从而实现跨模式监督。 WiFi无处不在且强大的照明，使其成为智能家居中的头像应用的可行解决方案。实验是在现实世界中进行的，结果表明，METAFI以95.23％的50@PCK实现了很高的性能。

为了使视频模型能够在不同环境中无缝应用，已经提出了各种视频无监督的域适应性（VUDA）方法来提高视频模型的鲁棒性和可传递性。尽管模型鲁棒性有所改进，但这些VUDA方法仍需要访问源数据和源模型参数以进行适应，从而提高了严重的数据隐私和模型可移植性问题。为了应对上述问题，本文首先将Black-Box视频域的适应（BVDA）制定为更现实但具有挑战性的场景，在该场景中，仅作为Black-Box预测器提供了源视频模型。尽管在图像域中提出了一些针对黑框域适应性（BDA）的方法，但这些方法不能适用于视频域，因为视频模式具有更复杂的时间特征，难以对齐。为了解决BVDA，我们通过应用蒙版到混合策略和视频量的正则化：内部正规化和外部正规化，提出了一个新颖的内野和外部正规化网络（EXTERS），在剪辑和时间特征上执行，并进行外部正规化，同时将知识从从黑框预测变量获得的预测中提炼出来。经验结果表明，在各种跨域封闭设置和部分集合动作识别基准中，外部的最先进性能甚至超过了具有源数据可访问性的大多数现有视频域适应方法。

近年来，WiFi传感一直在迅速发展。通过传播模型和深度学习方法的能力，实现了许多具有挑战性的应用，例如基于WiFi的人类活动识别和手势识别。但是，与深入学习视觉识别和自然语言处理相反，没有足够全面的公共基准。在本文中，我们强调了最新的深度学习进展，使WiFi传感能够感测，然后提出了一个基准SensenFI，以研究各种深度学习模型对WiFi传感的有效性。这些高级模型是根据独特的传感任务，WiFi平台，识别精度，模型大小，计算复杂性，功能可传递性以及无监督学习的适应性进行比较的。从CSI硬件平台到传感算法，它也被认为是基于深度学习的WiFi传感的教程。广泛的实验为我们提供了深层模型设计，学习策略技能和培训技术的经验。据我们所知，这是第一个带开源库的基准，用于WiFi传感研究中的深度学习。基准代码可在https://github.com/chenxinyan-sg/wifi-csi-sensing-benchmark上获得。

WiFi sensing technology has shown superiority in smart homes among various sensors for its cost-effective and privacy-preserving merits. It is empowered by Channel State Information (CSI) extracted from WiFi signals and advanced machine learning models to analyze motion patterns in CSI. Many learning-based models have been proposed for kinds of applications, but they severely suffer from environmental dependency. Though domain adaptation methods have been proposed to tackle this issue, it is not practical to collect high-quality, well-segmented and balanced CSI samples in a new environment for adaptation algorithms, but randomly-captured CSI samples can be easily collected. {\color{black}In this paper, we firstly explore how to learn a robust model from these low-quality CSI samples, and propose AutoFi, an annotation-efficient WiFi sensing model based on a novel geometric self-supervised learning algorithm.} The AutoFi fully utilizes unlabeled low-quality CSI samples that are captured randomly, and then transfers the knowledge to specific tasks defined by users, which is the first work to achieve cross-task transfer in WiFi sensing. The AutoFi is implemented on a pair of Atheros WiFi APs for evaluation. The AutoFi transfers knowledge from randomly collected CSI samples into human gait recognition and achieves state-of-the-art performance. Furthermore, we simulate cross-task transfer using public datasets to further demonstrate its capacity for cross-task learning. For the UT-HAR and Widar datasets, the AutoFi achieves satisfactory results on activity recognition and gesture recognition without any prior training. We believe that the AutoFi takes a huge step toward automatic WiFi sensing without any developer engagement.

由于高速互联网访问的要求增加，WiFi技术已应用于各个地方。最近，除了网络服务之外，WiFi Sensing在智能家居中还具有吸引力，因为它是无设备，具有成本效益和隐私性的。尽管已经开发了许多WiFi传感方法，但其中大多数仅考虑单个智能家庭场景。没有强大的云服务器和大量用户的连接，大规模的WiFi感应仍然很困难。在本文中，我们首先分析和总结了这些障碍，并提出了一个有效的大规模WiFi传感框架，即有效的障碍。 EfficityFI与中心服务器处的WiFi APS和云计算一起使用Edge Computing。它由一个新颖的深神经网络组成，该网络可以在Edge处压缩细粒的WiFi通道状态信息（CSI），在云中恢复CSI，并同时执行感应任务。量化的自动编码器和联合分类器旨在以端到端的方式实现这些目标。据我们所知，EfficityFi是第一个启用IoT-Cloud WiFi传感框架，可大大减少开销的交流，同时准确地实现感应任务。我们通过WiFi传感利用人类活动识别和鉴定为两个案例研究，并进行了广泛的实验以评估有效性。结果表明，它将CSI数据从1.368MB/s压缩至0.768kb/s，数据重建的误差极低，并且可以达到超过98％的人类活动识别精度。