Related papers: Implicit Cooperative Positioning in Vehicular Netw…
To maintain high perception performance among connected and autonomous vehicles (CAVs), in this paper, we propose an accuracy-aware and resource-efficient raw-level cooperative sensing and computing scheme among CAVs and road-side…
Intelligent vehicular communication with vehicle road collaboration capability is a key technology enabled by 6G, and the integration of various visual sensors on vehicles and infrastructures plays a crucial role. Moreover, accurate channel…
Vehicle positioning is considered a key element in autonomous driving systems. While conventional positioning requires the use of GPS and/or beacon signals from network infrastructure for triangulation, they are sensitive to multi-path and…
Future wireless network technology provides automobiles with the connectivity feature to consolidate the concept of vehicular networks that collaborate on conducting cooperative driving tasks. The full potential of connected vehicles, which…
Robust and fine localization algorithms are crucial for autonomous driving. For the production of such vehicles as a commodity, affordable sensing solutions and reliable localization algorithms must be designed. This work considers…
Research on connected vehicles represents a continuously evolving technological domain, fostered by the emerging Internet of Things (IoT) paradigm and the recent advances in intelligent transportation systems. Nowadays, vehicles are…
Vehicle Ad-hoc Networks (VANETs) act as the core of vehicular communications and provide the fundamental wireless communication architecture to support both vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication.…
Accurate uncertainty estimation associated with the pose transformation between two 3D point clouds is critical for autonomous navigation, grasping, and data fusion. Iterative closest point (ICP) is widely used to estimate the…
For intelligent vehicles, sensing the 3D environment is the first but crucial step. In this paper, we build a real-time advanced driver assistance system based on a low-power mobile platform. The system is a real-time multi-scheme…
We propose a distributed positioning algorithm to estimate the unknown positions of a number of target nodes, given distance measurements between target nodes and between target nodes and a number of reference nodes at known positions.…
Cooperative driving systems, such as platooning, rely on communication and information exchange to create situational awareness for each agent. Design and performance of control components are therefore tightly coupled with communication…
Human-robot cooperative navigation is challenging under incomplete information. We introduce CoNav-Maze, a simulated environment where a robot navigates with local perception while a human operator provides guidance based on an inaccurate…
Recent advancements in Integrated Sensing and Communications (ISAC) have unlocked new potential for addressing the dual demands of high-resolution positioning and reliable communication in 6G Vehicle-to-Everything (V2X) networks. These…
In future wireless networks, one of the use-cases of interest is Internet-of-vehicles (IoV). Here, IoV refers to two different functionalities, namely, serving the in-vehicle users and supporting the connected-vehicle functionalities, where…
Vehicle-to-Vehicle (V2V) communication technology has dramatically promoted many promising applications to enhance traffic safety, mobility, and sustainability. However, However, we still lack the understanding of some fundamental…
In this paper, we focus on improving autonomous driving safety via task offloading from cellular vehicles (CVs), using vehicle-to-infrastructure (V2I) links, to an multi-access edge computing (MEC) server. Considering that the frequencies…
We propose a methodology for connected autonomous vehicles (CAVs) to determine their passing priority at unsignalized intersections where they coexist with human-driven vehicles (HVs). Assuming that CAVs can perceive the entry order of…
Integrated sensing, communication, and computation (ISCC) is emerging as a unified design paradigm for future vehicular networks that require joint environment perception, safety-critical information exchange, and latency-sensitive task…
The increasing complexity of urban environments introduces additional uncertainty to the deployment of the autonomous vehicular network. A novel road infrastructure cooperative detection model using Joint Communication and Sensing (JCS)…
This paper presents a visual-inertial odometry-enhanced geometrically stable Iterative Closest Point (ICP) algorithm for accurate mapping using aerial robots. The proposed method employs a visual-inertial odometry framework in order to…