Related papers: Multilateration of the Local Position Measurement
Large language models (LLMs) require careful alignment to balance competing objectives - factuality, safety, conciseness, proactivity, and diversity. Existing studies focus on individual techniques or specific dimensions, lacking a holistic…
This paper introduces 2Fast-2Lamaa, a lidar-inertial state estimation framework for odometry, mapping, and localization. Its first key component is the optimization-based undistortion of lidar scans, which uses continuous IMU preintegration…
Wireless indoor localization has attracted significant research interest due to its high accuracy, low cost, lightweight design, and low power consumption. Specifically, ultra-wideband (UWB) time difference of arrival (TDOA)-based…
Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…
Visible light positioning (VLP) technology is a promising technique as it can provide high accuracy positioning based on the existing lighting infrastructure. However, existing approaches often require dense lighting distributions.…
Place recognition is an important capability for autonomously navigating vehicles operating in complex environments and under changing conditions. It is a key component for tasks such as loop closing in SLAM or global localization. In this…
Field robotics in perceptually-challenging environments require fast and accurate state estimation, but modern LiDAR sensors quickly overwhelm current odometry algorithms. To this end, this paper presents a lightweight frontend LiDAR…
Time-based indoor positioning techniques rely on multiple access points (APs) and measurements between the user equipment (UE) and the APs. In dense indoor environments, occlusion-induced non-line-of-sight (NLoS) propagation introduces…
Accurate node localization is vital for mobile ad hoc networks (MANETs). Current methods like Time of Arrival (TOA) can estimate node positions using imprecise baseplates and achieve the Cram\'er-Rao lower bound (CRLB) accuracy. In…
Sensing emerges as a critical challenge in 6G networks, which require simultaneous communication and target sensing capabilities. State-of-the-art super-resolution techniques for the direction of arrival (DoA) estimation encounter…
The physical position is crucial in location-aware services or protocols based on geographic information, where localization is performed given a set of sensor measurements for acquiring the position of an object with respect to a certain…
We provide a simple method and relevant theoretical analysis for efficiently estimating higher-order lp distances. While the analysis mainly focuses on l4, our methodology extends naturally to p = 6,8,10..., (i.e., when p is even).…
LiDAR relocalization has attracted increasing attention as it can deliver accurate 6-DoF pose estimation in complex 3D environments. Recent learning-based regression methods offer efficient solutions by directly predicting global poses…
Combining multiple LiDARs enables a robot to maximize its perceptual awareness of environments and obtain sufficient measurements, which is promising for simultaneous localization and mapping (SLAM). This paper proposes a system to achieve…
The advent of 5G positioning techniques by 3GPP has unlocked possibilities for applications in public safety, vehicular systems, and location-based services. However, these applications demand accurate and reliable positioning performance,…
Traditional LiDAR odometry (LO) systems mainly leverage geometric information obtained from the traversed surroundings to register laser scans and estimate LiDAR ego-motion, while it may be unreliable in dynamic or unstructured…
This paper considers target tracking based on a beacon signal's time-difference-of-arrival (TDOA) to a group of cooperating sensors. The sensors receive a reflected signal from the target where the time-of-arrival (TOA) renders the distance…
The rapid advancement of the next generation of communications and internet of things (IoT) technologies has made the provision of location-based services for diverse devices an increasingly pressing necessity. Localizing devices…
The current optimization approaches of construction machinery are mainly based on internal sensors. However, the decision of a reasonable strategy is not only determined by its intrinsic signals, but also very strongly by environmental…
In this paper, we explore a dual-sniffer passive localization system that detects the timing difference of signals from both commercial base station (eNb) and user equipment (UE) to the sniffers. We design two localization schemes for UE…