Publications by Frederike Dümbgen

Blind as a Bat: Audible Echolocation on Small Robots

Martin Vetterli, Mihailo Kolundzija, Frederike Dümbgen, Adrien Guillaume Olivier Hoffet, Adam James Scholefield

For safe and efficient operation, mobile robots need to perceive their environment, and in particular, perform tasks such as obstacle detection, localization, and mapping. Although robots are often equipped with microphones and speakers, the audio modality ...

2022

Blind as a bat: spatial perception without sight

Frederike Dümbgen

Among our five senses, we rely mostly on audition and vision to perceive an environment. Our ears are able to detect stimuli from all directions, especially from obstructed and far-away objects. Even in smoke, harsh weather conditions, or at night â situ ...

EPFL2021

Realizability of planar point embeddings from angle measurements

Frederike Dümbgen, Adam James Scholefield, Majed El Helou

Localization of a set of nodes is an important and a thoroughly researched problem in robotics and sensor networks. This paper is concerned with the theory of localization from inner-angle measurements. We focus on the challenging case where no anchor loca ...

IEEE2020

Relax and Recover: Guaranteed Range-Only Continuous Localization

Frederike Dümbgen, Adam James Scholefield, Michalina Wanda Pacholska

Range-only localization has applications as diverse as underwater navigation, drone tracking and indoor localization. While the theoretical foundations of lateration---range-only localization for static points---are well understood, there is a lack of unde ...

2020

AL2: Progressive Activation Loss for Learning General Representations in Classification Neural Networks

Sabine Süsstrunk, Frederike Dümbgen, Majed El Helou

The large capacity of neural networks enables them to learn complex functions. To avoid overfitting, networks however require a lot of training data that can be expensive and time-consuming to collect. A common practical approach to attenuate overfitting i ...

IEEE2020

Multi-Modal Probabilistic Indoor Localization on a Smartphone

Serge Ayer, Mihailo Kolundzija, Johan Leuenberger, Frederike Dümbgen, Emmanuel Girardin, Cynthia Oeschger, Adam James Scholefield

IEEE2019

Near-Infrared Fusion for Photorealistic Image Dehazing

Sabine Süsstrunk, Frederike Dümbgen, Natalija Gucevska, Majed El Helou

Scattering of light due to the presence of aerosol particles along the path of radiation causes atmospheric haze in images. This scattering is significantly less severe in longer wavelength bands than in shorter ones, thus the importance of near-infrared ( ...

2018

Combining Range and Direction for Improved Localization

Martin Vetterli, Robin Scheibler, Gilles Baechler, Frederike Dümbgen, Golnooshsadat Elhami, Miranda Krekovic, Adam James Scholefield

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 ...

2018

Fourier-Domain Optimization for Image Processing

Sabine Süsstrunk, Radhakrishna Achanta, Frederike Dümbgen, Majed El Helou

Image optimization problems encompass many applications such as spectral fusion, deblurring, deconvolution, dehazing, matting, reflection removal and image interpolation, among others. With current image sizes in the order of megabytes, it is extremely exp ...

arXiv2018

AAM: An Assessment Metric of Axial Chromatic Aberration

Sabine Süsstrunk, Frederike Dümbgen, Majed El Helou

Knowledge of lens specifications is important to identify the best lens for a given capture scenario and application. Lens manufacturers provide many specifications in their data sheets, and multiple initiatives for testing and comparing different lenses c ...

2018