Crowd counting is a crucial task in computer vision, which poses a significant challenge yet holds vast potential for practical applications in public safety and transportation. Traditional crowd counting approaches typically rely on a single framework to predict density maps or head point distributions. However, the straightforward architectures often fall short in cases of over-counting or omission, particularly in diverse crowded scenes. To address these limitations, we introduce the Density to Point Transformer (D2PT), an innovative approach for effective crowd counting and localization. Specifically, D2PT employs a Transformer-based teacher-student framework that integrates the insights of density-based and head-point-based methods. Furthermore, we introduce feature-aligned knowledge distillation, formulating a collaborative training approach that enhances the performance of both density estimation and point map prediction. Optimized with multiple loss functions, D2PT achieves state-of-the-art performance across five crowd counting datasets, demonstrating its robustness and effectiveness for intricate crowd counting and localization challenges.

Received Signal Strength Indicator (RSSI)-based localization is of interest in indoor localization systems. In this study, we propose a method to improve localization accuracy using interference-oriented fluctuation. We estimate the distance between target and beacon nodes by utilizing the nodes located around them. When the beacon node transmits a signal to the target for measuring the distance, the surrounding nodes also transmit a copy of the signal. Such signals cause interference patterns at the beacon, thereby randomizing the RSSI. Our developed statistical signal processing enables the estimation of the strength of the received signal with the randomized RSSI. We numerically show that the distance between the target and beacon nodes is estimated with lower error than when using the conventional method. In addition, such accurate distance estimation allows significant improvement in localization performance. Our approach is useful for indoor localization systems, for example, those in medical and industrial applications.

This letter proposes a method that can track the movement of noise sources in fixed filter ANC and virtual sensing ANC systems by using source localization with multiple microphones. Since the optimal noise control filter depends on the location of the noise source, the proposed system prepares optimal noise control filters in advance for multiple locations where the noise is expected to move. The noise source location is then identified using the noise source localization method during the operation of the ANC system, and the appropriate noise control filter is selected according to the location. Simulation results using actual impulse responses show that a noise reduction of approximately 20 dB is possible even if the noise source moves.

Advanced wireless communication systems combined with wireless sensing are being developed as a key technology toward Beyond 5G and 6G networks. Such future communication networks are expected to offer additional capabilities that enable new applications, such as object detection and localization using radio signals. The basic concept of object detection using radio signals is to track the fluctuations in the radio channel which are influenced by the movements and presence of target objects, e.g., channel state information (CSI) is useful to estimate the target’s behavior and presence. As described in this paper, we present our recently developed wireless local area network (WLAN)-based device-free indoor localization scheme with distributed antennas and experimentally assess its achievable performance in indoor scenarios. For this approach, feedback beamforming weights in WLAN systems are used as feature information for machine-learning-based algorithms. Experiment results show that our proposed algorithm, implemented in an IEEE 802.11ac-based WLAN, works well in indoor environments. We also discuss how much performance improvement can be expected when the CSI is given properly. Based on these outcomes, we explore the applicability and effective range of the proposed systems in an indoor environment.

An unmanned aerial vehicle (UAV) can be used for wireless communication and localization, among many other things. When terrestrial networks are either damaged or non-existent, and the area is GPS-denied, the UAV can be quickly deployed to provide communication and localization services to ground terminals in a specific target area. In this study, we propose an UAV operation model for unified communication and localization using reinforcement learning (UCL-RL) in a suburban environment which has no cellular communication and GPS connectivity. First, the UAV flies to the target area, moves in a circular fashion with a constant turning radius and sends navigation signals from different positions to the ground terminals. This provides a dynamic environment that includes the turning radius, the navigation signal transmission points, and the height of the unmanned aerial vehicle as well as the location of the ground terminals. The proposed model applies a reinforcement learning algorithm where the UAV continuously interacts with the environment and learns the optimal height that provides the best communication and localization services to the ground terminals. To evaluate the terminal position accuracy, position dilution of precision (PDOP) is measured, whereas the maximum allowable path loss (MAPL) is measured to evaluate the communication service. The simulation result shows that the proposed model improves the localization of the ground terminals while guaranteeing the communication service.

Providing students with useful feedback on faulty programs can effectively help students fix programs. Spectrum-Based Fault Location (SBFL), which is a widely studied and lightweight technique, can automatically generate a suspicious value of statement ranking to help users find potential faults in a program. However, the performance of SBFL on student programs is not satisfactory, to improve the accuracy of SBFL in student programs, we propose a novel Multi-Correct Programs based Fault Localization (MCPFL) approach. Specifically, We first collected the correct programs submitted by students on the OJ system according to the programming problem numbers and removed the highly similar correct programs based on code similarity, and then stored them together with the faulty program to be located to construct a set of programs. Afterward, we analyzed the suspiciousness of the term in the faulty program through the Term Frequency-Inverse Document Frequency (TF-IDF). Finally, we designed a formula to calculate the weight of suspiciousness for program statements based on the number of input variables in the statement and weighted it to the spectrum-based fault localization formula. To evaluate the effectiveness of MCPFL, we conducted empirical studies on six student program datasets collected in our OJ system, and the results showed that MCPFL can effectively improve the traditional SBFL methods. In particular, on the EXAM metric, our approach improves by an average of 27.51% on the Dstar formula.

With the growing complexity and scale of software, detecting and repairing errant behaviors at an early stage are critical to reduce the cost of software development. In the practice of fault localization, a typical process usually includes three steps: execution of input domain test cases, construction of model domain test vectors and suspiciousness evaluation. The effectiveness of model domain test vectors is significant for locating the faulty code. However, test vectors with failing labels usually account for a small portion, which inevitably degrades the effectiveness of fault localization. In this paper, we propose a data augmentation method PVaug by using fault propagation context and variational autoencoder (VAE). Our empirical results on 14 programs illustrate that PVaug has promoted the effectiveness of fault localization.

To localize an unknown wave source in non-line-of-sight environments, a wave source localization scheme using multiple unmanned-aerial-vehicles (UAVs) is proposed. In this scheme, each UAV estimates the direction-of-arrivals (DoAs) of received signals and the wave source is localized from the estimated DoAs by means of maximum likelihood estimation. In this study, by extending the concept of this scheme, we propose a novel wave source localization scheme using a single UAV. In the proposed scheme, the UAV moves on the path comprising multiple measurement points and the wave source is sequentially localized from DoA distributions estimated at these measurement points. At each measurement point, with a moving path planning algorithm, the UAV determines the next measurement point from the estimated DoA distributions and measurement points that the UAV has already visited. We consider two moving path planning algorithms, and validate the proposed scheme through simulation experiments.

In this paper, we compare performances of train localization schemes by the dynamic programming of various sensor information obtained from a smartphone attached to a train, and further discuss the most superior sensor information and scheme in this localization system. First, we compare the localization performances of single sensor information schemes, such as 3-axis acceleration information, acoustic information, 3-axis magnetic information, and barometric pressure information. These comparisons reveal that the lateral acceleration information input scheme has the best localization performance. Furthermore, we optimize each data fusion scheme and compare the localization performances of the data-fusion schemes using the optimal ratio of coefficients. The results show that the hybrid scheme has the best localization performance, with a root mean squared error (RMSE) of 12.2 m. However, there are no differences between the RMSEs of the input fusion scheme and 3-axis acceleration input scheme in the most significant three digits. Consequently, we conclude that the 3-axis acceleration input fusion scheme is the most reasonable in terms of simplicity.

Machine vision-based automatic anti-bird thorn failure inspection, instead of manual identification, remains a great challenge. In this paper, we proposed a novel Object Position Embedding Network (OPENnet), which can improve the precision of anti-bird thorn localization. OPENnet can simultaneously predict the location boxes of the support device and anti-bird thorn by using the proposed double-head network. And then, OPENnet is optimized using the proposed symbiotic loss function (SymLoss), which embeds the object position into the network. The comprehensive experiments are conducted on the real railway video dataset. OPENnet yields competitive performance on anti-bird thorn localization. Specifically, the localization performance gains +3.65 AP, +2.10 AP50, and +1.22 AP75.

The high-precision indoor positioning technology has gradually become one of the research hotspots in indoor mobile robots. Relax and Recover (RAR) is an indoor positioning algorithm using distance observations. The algorithm restores the robot's trajectory through curve fitting and does not require time synchronization of observations. The positioning can be successful with few observations. However, the algorithm has the disadvantages of poor resistance to gross errors and cannot be used for real-time positioning. In this paper, while retaining the advantages of the original algorithm, the RAR algorithm is improved with the adaptive Kalman filter (AKF) based on the innovation sequence to improve the anti-gross error performance of the original algorithm. The improved algorithm can be used for real-time navigation and positioning. The experimental validation found that the improved algorithm has a significant improvement in accuracy when compared to the original RAR. When comparing to the extended Kalman filter (EKF), the accuracy is also increased by 12.5%, which can be used for high-precision positioning of indoor mobile robots.

In this letter, we consider the problem of joint selection of transmitters and receivers in a distributed multi-input multi-output radar network for localization. Different from previous works, we consider a more mathematically challenging but generalized situation that the transmitting signals are not perfectly orthogonal. Taking Cramér Rao lower bound as performance metric, we propose a scheme of joint selection of transmitters and receivers (JSTR) aiming at optimizing the localization performance under limited number of nodes. We propose a bi-convex relaxation to replace the resultant NP hard non-convex problem. Using the bi-convexity, the surrogate problem can be efficiently resolved by nonlinear alternating direction method of multipliers. Simulation results reveal that the proposed algorithm has very close performance compared with the computationally intensive but global optimal exhaustive search method.

We propose GConvLoc, a WiFi fingerprinting-based indoor localization method utilizing graph convolutional networks. Using the graph structure, we can consider the fingerprint data of the reference points and their location labels in addition to the fingerprint data of the test point at inference time. Experimental results show that GConvLoc outperforms baseline methods that do not utilize graphs.

Federated learning is a promising strategy for indoor localization that can reduce the labor cost of constructing a fingerprint dataset in a distributed training manner without privacy disclosure. However, the traffic generated during the whole training process of federated learning is a burden on the up-and-down link, which leads to huge energy consumption for mobile devices. Moreover, the non-independent and identically distributed (Non-IID) problem impairs the global localization performance during the federated learning. This paper proposes a communication-efficient FedAvg method for federated indoor localization which is improved by the layerwise asynchronous aggregation strategy and layerwise swapping training strategy. Energy efficiency can be improved by performing asynchronous aggregation between the model layers to reduce the traffic cost in the training process. Moreover, the impact of the Non-IID problem on the localization performance can be mitigated by performing swapping training on the deep layers. Extensive experimental results show that the proposed methods reduce communication traffic and improve energy efficiency significantly while mitigating the impact of the Non-IID problem on the precision of localization.

Fault localization analyzes the runtime information of two classes of test cases (i.e., passing test cases and failing test cases) to identify suspicious statements potentially responsible for a failure. However, the failing test cases are always far fewer than passing test cases in reality, and the class imbalance problem will affect fault localization effectiveness. To address this issue, we propose a data augmentation approach using conditional variational auto-encoder to synthesize new failing test cases for FL. The experimental results show that our approach significantly improves six state-of-the-art fault localization techniques.

Particle filters have been widely used for state estimation problems in nonlinear and non-Gaussian systems. Their performance depends on the given system and measurement models, which need to be designed by the user for each target system. This paper proposes a novel method to design these models for a particle filter. This is a numerical optimization method, where the particle filter design process is interpreted into the framework of reinforcement learning by assigning the randomnesses included in both models of the particle filter to the policy of reinforcement learning. In this method, estimation by the particle filter is repeatedly performed and the parameters that determine both models are gradually updated according to the estimation results. The advantage is that it can optimize various objective functions, such as the estimation accuracy of the particle filter, the variance of the particles, the likelihood of the parameters, and the regularization term of the parameters. We derive the conditions to guarantee that the optimization calculation converges with probability 1. Furthermore, in order to show that the proposed method can be applied to practical-scale problems, we design the particle filter for mobile robot localization, which is an essential technology for autonomous navigation. By numerical simulations, it is demonstrated that the proposed method further improves the localization accuracy compared to the conventional method.

Most existing object detection methods and text detection methods are mainly designed to detect either text or objects. In some scenarios where the task is to find the target word pointed-at by an object, results of existing methods are far from satisfying. However, such scenarios happen often in human-computer interaction, when the computer needs to figure out which word the user is pointing at. Comparing with object detection, pointed-at word localization (PAWL) requires higher accuracy, especially in dense text scenarios. Moreover, in printed document, characters are much smaller than those in scene text detection datasets such as ICDAR-2013, ICDAR-2015 and ICPR-2018 etc. To address these problems, the authors propose a novel target word localization network (TWLN) to detect the pointed-at word in printed documents. In this work, a single deep neural network is trained to extract the features of markers and text sequentially. For each image, the location of the marker is predicted firstly, according to the predicted location, a smaller image is cropped from the original image and put into the same network, then the location of pointed-at word is predicted. To train and test the networks, an efficient approach is proposed to generate the dataset from PDF format documents by inserting markers pointing at the words in the documents, which avoids laborious labeling work. Experiments on the proposed dataset demonstrate that TWLN outperforms the compared object detection method and optical character recognition method on every category of targets, especially when the target is a single character that only occupies several pixels in the image. TWLN is also tested with real photographs, and the accuracy shows no significant differences, which proves the validity of the generating method to construct the dataset.

In a wireless ad hoc network (MANET), nodes can form a centerless, self-organizing, multi-hop dynamic network without any centralized control function, while hidden and exposed terminals seriously affect the network performance. Meanwhile, the wireless network node is evolving from single communication function to jointly providing a self precise positioning function, especially in indoor environments where GPS cannot work well. However, the existing medium access control (MAC) protocols only deal with collision control for data transmission without positioning function. In this paper, we propose a MAC protocol based on 802.11 standard to enable a node with self-positioning function, which is further used to solve hidden and exposed terminal problems. The location of a network node is obtained through exchanging of MAC frames jointly using a time of arrival (TOA) algorithm. Then, nodes use the location information to calculate the interference range, and judge whether they can transmit concurrently. Simulation shows that the positioning function of the proposed MAC protocol works well, and the corresponding MAC protocol can achieve higher throughput, lower average end-to-end delay and lower packet loss rate than that without self-localization function.

Recent localization methods for wireless networks cannot be applied to dynamic networks with unknown topology. To solve this problem, we propose a localization method based on partial correlation analysis in this paper. We evaluate our proposed localization method in terms of accuracy, which shows that our proposed method can achieve high accuracy localization for dynamic networks with unknown topology.

As an emerging technology, device-free localization (DFL) using wireless sensor networks to detect targets not carrying any electronic devices, has spawned extensive applications, such as security safeguards and smart homes or hospitals. Previous studies formulate DFL as a classification problem, but there are still some challenges in terms of accuracy and robustness. In this paper, we exploit a generalized thresholding algorithm with parameter p as a penalty function to solve inverse problems with sparsity constraints for DFL. The function applies less bias to the large coefficients and penalizes small coefficients by reducing the value of p. By taking the distinctive capability of the p thresholding function to measure sparsity, the proposed approach can achieve accurate and robust localization performance in challenging environments. Extensive experiments show that the algorithm outperforms current alternatives.