128,594 research outputs found
A security and robustness performance analysis of localization algorithms to signal strength attacks
Nature Inspired Range Based Wireless Sensor Node Localization Algorithms
Localization is one of the most important factors highly desirable for the performance of Wireless Sensor Network (WSN). Localization can be stated as the estimation of the location of the sensor nodes in sensor network. In the applications of WSN, the data gathered at sink node will be meaningless without localization information of the nodes. Due to size and complexity factors of the localization problem, it can be formulated as an optimization problem and thus can be approached with optimization algorithms. In this paper, the nature inspired algorithms are used and analyzed for an optimal estimation of the location of sensor nodes. The performance of the nature inspired algorithms viz. Flower pollination algorithm (FPA), Firefly algorithm (FA), Grey Wolf Optimization (GWO) and Particle Swarm Optimization (PSO) for localization in WSN is analyzed in terms of localization accuracy, number of localized nodes and computing time. The comparative analysis has shown that FPA is more proficient in determining
the coordinates of nodes by minimizing the localization error as compared to FA, PSO and GWO
Benchmarking and Error Diagnosis in Multi-Instance Pose Estimation
We propose a new method to analyze the impact of errors in algorithms for
multi-instance pose estimation and a principled benchmark that can be used to
compare them. We define and characterize three classes of errors -
localization, scoring, and background - study how they are influenced by
instance attributes and their impact on an algorithm's performance. Our
technique is applied to compare the two leading methods for human pose
estimation on the COCO Dataset, measure the sensitivity of pose estimation with
respect to instance size, type and number of visible keypoints, clutter due to
multiple instances, and the relative score of instances. The performance of
algorithms, and the types of error they make, are highly dependent on all these
variables, but mostly on the number of keypoints and the clutter. The analysis
and software tools we propose offer a novel and insightful approach for
understanding the behavior of pose estimation algorithms and an effective
method for measuring their strengths and weaknesses.Comment: Project page available at
http://www.vision.caltech.edu/~mronchi/projects/PoseErrorDiagnosis/; Code
available at https://github.com/matteorr/coco-analyze; published at ICCV 1
Benchmarking and Comparing Popular Visual SLAM Algorithms
This paper contains the performance analysis and benchmarking of two popular
visual SLAM Algorithms: RGBD-SLAM and RTABMap. The dataset used for the
analysis is the TUM RGBD Dataset from the Computer Vision Group at TUM. The
dataset selected has a large set of image sequences from a Microsoft Kinect
RGB-D sensor with highly accurate and time-synchronized ground truth poses from
a motion capture system. The test sequences selected depict a variety of
problems and camera motions faced by Simultaneous Localization and Mapping
(SLAM) algorithms for the purpose of testing the robustness of the algorithms
in different situations. The evaluation metrics used for the comparison are
Absolute Trajectory Error (ATE) and Relative Pose Error (RPE). The analysis
involves comparing the Root Mean Square Error (RMSE) of the two metrics and the
processing time for each algorithm. This paper serves as an important aid in
the selection of SLAM algorithm for different scenes and camera motions. The
analysis helps to realize the limitations of both SLAM methods. This paper also
points out some underlying flaws in the used evaluation metrics.Comment: 7 pages, 4 figure
Study of speaker localization under dynamic and reverberant environments
Speaker localization in a reverberant environment is a fundamental problem in
audio signal processing. Many solutions have been developed to tackle this
problem. However, previous algorithms typically assume a stationary environment
in which both the microphone array and the sound sources are not moving. With
the emergence of wearable microphone arrays, acoustic scenes have become
dynamic with moving sources and arrays. This calls for algorithms that perform
well in dynamic environments. In this article, we study the performance of a
speaker localization algorithm in such an environment. The study is based on
the recently published EasyCom speech dataset recorded in reverberant and noisy
environments using a wearable array on glasses. Although the localization
algorithm performs well in static environments, its performance degraded
substantially when used on the EasyCom dataset. The paper presents performance
analysis and proposes methods for improvement
Localization of DOA trajectories -- Beyond the grid
The direction of arrival (DOA) estimation algorithms are crucial in
localizing acoustic sources. Traditional localization methods rely on
block-level processing to extract the directional information from multiple
measurements processed together. However, these methods assume that DOA remains
constant throughout the block, which may not be true in practical scenarios.
Also, the performance of localization methods is limited when the true
parameters do not lie on the parameter search grid. In this paper we propose
two trajectory models, namely the polynomial and bandlimited trajectory models,
to capture the DOA dynamics. To estimate trajectory parameters, we adopt two
gridless algorithms: i) Sliding Frank-Wolfe (SFW), which solves the Beurling
LASSO problem and ii) Newtonized Orthogonal Matching Pursuit (NOMP), which
improves over OMP using cyclic refinement. Furthermore, we extend our analysis
to include wideband processing. The simulation results indicate that the
proposed trajectory localization algorithms exhibit improved performance
compared to grid-based methods in terms of resolution, robustness to noise, and
computational efficiency
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