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Localization in challenging, natural environments such as forests or woodlands is an important capability for many applications from guiding a robot navigating along a forest trail to monitoring vegetation growth with handheld sensors. In…

We consider the problem of energy balancing in a clustered wireless sensor network (WSN) deployed randomly in a large field and aided by a mobile robot (MR). The sensor nodes (SNs) are tasked to monitor a region of interest (ROI) and report…

This paper studies 3D LiDAR mapping with a focus on developing an updatable and localizable map representation that enables continuity, compactness and consistency in 3D maps. Traditional LiDAR Simultaneous Localization and Mapping (SLAM)…

This white paper describes a proposed article that will aim to provide a thorough study of the evolution of the typical paradigm of wireless localization (WL), which is based on a single point model of each target, towards wireless rigid…

Localization is expected to play a significant role in future wireless networks as positioning and situational awareness, navigation and tracking, are integral parts of 6G usage scenarios. Nevertheless, in many cases localization requires…

A critical need in Mobile Wireless Sensor Network (MWSN) is to achieve energy efficiency during routing as the sensor nodes have scarce energy resource. The nodes' mobility in MWSN poses a challenge to design an energy efficient routing…

Collaborative 3D object detection exploits information exchange among multiple agents to enhance accuracy of object detection in presence of sensor impairments such as occlusion. However, in practice, pose estimation errors due to imperfect…

Wireless positioning in Non-Line-of-Sight (NLoS) scenarios presents significant challenges due to multipath effects that lead to biased measurements and reduced positioning accuracy. This paper revisits electromagnetic field theory related…

Wireless Sensor Network (WSN) localization refers to the problem of determining the position of each of the agents in a WSN using noisy measurement information. In many cases, such as in distance and bearing-based localization, the…

3D situational awareness is critical for any autonomous system. However, when operating underwater, environmental conditions often dictate the use of acoustic sensors. These acoustic sensors are plagued by high noise and a lack of 3D…

Clustering algorithms are one of the main analytical methods to detect patterns in unlabeled data. Existing clustering methods typically treat samples in a dataset as points in a metric space and compute distances to group together similar…

Many modern wireless devices with accurate positioning needs also have access to vision sensors, such as a camera, radar, and Light Detection and Ranging (LiDAR). In scenarios where wireless-based positioning is either inaccurate or…

This paper deals with the problem of localization in a cellular network in a dense urban scenario. Global Navigation Satellite Systems (GNSS) typically perform poorly in urban environments, where the likelihood of line-of-sight conditions…

Integrated sensing and communication (ISAC) networks strive to deliver both high-precision target localization and high-throughput data services across the entire coverage area. In this work, we examine the fundamental trade-off between…

We present an algorithm of clustering of many-dimensional objects, where only the distances between objects are used. Centers of classes are found with the aid of neuron-like procedure with lateral inhibition. The result of clustering does…

Squared planar markers are a popular tool for fast, accurate and robust camera localization, but its use is frequently limited to a single marker, or at most, to a small set of them for which their relative pose is known beforehand. Mapping…

In this paper, we aim to determine the location information of a node deployed in Wireless Sensor Networks (WSN). We estimate the position of an unknown source node using localization based on linear approach on a single simulation…

Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…

Many modern simultaneous localization and mapping (SLAM) techniques rely on sparse landmark-based maps due to their real-time performance. However, these techniques frequently assert that these landmarks are fixed in position over time,…

Simultaneous Localization and Mapping (SLAM) has been considered as a solved problem thanks to the progress made in the past few years. However, the great majority of LiDAR-based SLAM algorithms are designed for a specific type of payload…