Ricerc@Sapienza

This paper concerns the design and implementation of a novel system for diving operations based on an efficient

We deduce a one-dimensional model of elastic planar rods starting from the Föppl–von Kármán model of thin shells. Such model is enhanced by additional kinematical descriptors that keep explicit track of the compatibility condition requested in the two-dimensional parent continuum, that in the standard rods models are identically satisfied after the dimensional reduction. An inextensible model is also proposed, starting from the nonlinear Koiter model of inextensible shells.

Reliable and efficient Visual Place Recognition is
a major building block of modern SLAM systems. Leveraging
on our prior work, in this paper we present a Hamming
Distance embedding Binary Search Tree (HBST) approach
for binary Descriptor Matching and Image Retrieval. HBST
allows for descriptor Search and Insertion in logarithmic time
by exploiting particular properties of binary descriptors. We
support the idea behind our search structure with a thorough
analysis on the exploited descriptor properties and their effects

Registering models is an essential building block of many robotic applications. In case of three-dimensional data, the models to be aligned usually consist of point clouds. In this letter, we propose a formalism to represent in a uniform manner scenes consisting of high-level geometric primitives, including lines and planes. Additionally, we derive both an iterative and a direct method to determine the transformation between heterogeneous scenes (solver). We analyzed the convergence behavior of this solver on synthetic data.

The need to manage connectivity, when Internet access is granted indoor via Visible Light Communications, leads to acquire information about user position. This is useful for accessing the medium via space division multiplexing and/or giving rise to handover procedure or, more, providing access to location based contents, as for example, in large indoor environments as malls or museums. In this regard, we propose a localization mechanism that exploits the properties of metamerism so that the red, green, and blue components used by LEDs, provide the white light sensation to the human eye.

In indoor environments, visible light communications paradigm is emerging as a viable promising solution complementary to well-known radio frequency technology. At the same time, the information about user's location is useful for accessing the medium via space-division multiplexing, handling over or providing access to location-based contents. In this paper, we present two localization mechanisms based on the wavelength domain by assuming that each anchor point uses a spectrally dedicated signature for the user to readily identify it.

This paper presents the study of a radar system for indoor human localization and vital signs monitoring. The article illustrates different solutions including linear frequency-modulated continuous-wave (FMCW) mode and recently proposed hybrid schemes, combining FMCW and continuous-wave (CW) interferometry modes. A new operating modality based on the use of the phase variations of the demodulated FMCW signal is also proposed.