Related papers: Multilateration of the Local Position Measurement
Perception is a key element for enabling intelligent autonomous navigation. Understanding the semantics of the surrounding environment and accurate vehicle pose estimation are essential capabilities for autonomous vehicles, including…
High time resolution of ultra wideband (UWB) signals facilitates very precise positioning capabilities based on time-of-arrival (TOA) measurements. Although the theoretical lower bound for TOA estimation can be achieved by the maximum…
Movable Antenna (MA) technology is emerging as a promising advancement with the potential to significantly enhance the performance of future wireless communication and sensing systems. In this paper, we address two-dimensional (2D)…
Localization of a wireless mobile device or a robot in indoor and GPS-denied environments is a difficult problem, particularly in dynamic scenarios where traditional cameras and LIDAR-based alternative sensing and localization modalities…
The high directionality and intense Doppler effects of millimeter wave (mmWave) and sub-terahertz (subTHz) channels demand accurate localization of the users and a new paradigm of channel estimation. For orthogonal frequency division…
Accurate indoor positioning for wireless communication systems represents an important step towards enhanced reliability and security, which are crucial aspects for realizing Industry 4.0. In this context, this paper presents an…
Simultaneous Localization and Mapping (SLAM) has wide robotic applications such as autonomous driving and unmanned aerial vehicles. Both computational efficiency and localization accuracy are of great importance towards a good SLAM system.…
We present a particle-based framework for estimating the position of a vehicle using map information and measurements of speed. Two measurement functions are considered. The first is based on the assumption that the lateral force on the…
This paper presents a localization system for mobile robots enabling precise localization in inaccurate building models. The approach leverages local referencing to counteract inherent deviations between as-planned and as-built data for…
Human pose estimation - the process of recognizing a human's limb positions and orientations in a video - has many important applications including surveillance, diagnosis of movement disorders, and computer animation. While deep learning…
Visible light communication (VLC) based localization is a potential candidate for wide range indoor localization applications. In this paper, we propose a VLC architecture based on orthogonal frequency division multiplexing (OFDM) with…
Reliable robot pose estimation is a key building block of many robot autonomy pipelines, with LiDAR localization being an active research domain. In this work, a versatile self-supervised LiDAR odometry estimation method is presented, in…
For human pose estimation in videos, it is significant how to use temporal information between frames. In this paper, we propose temporal flow maps for limbs (TML) and a multi-stride method to estimate and track human poses. The proposed…
Hybrid received signal strength (RSS)-angle of arrival (AoA)-based positioning offers low-cost distance estimation and high-resolution angular measurements. Still, it comes at a cost of inherent nonlinearities, geometry-dependent noise, and…
Precise localization is a core ability of an autonomous vehicle. It is a prerequisite for motion planning and execution. The well-established localization approaches such as Kalman and particle filters require a probabilistic observation…
We propose a technique to develop (and localize in) topological maps from light detection and ranging (Lidar) data. Localizing an autonomous vehicle with respect to a reference map in real-time is crucial for its safe operation. Owing to…
Localization of networked nodes is an essential problem in emerging applications, including first-responder navigation, automated manufacturing lines, vehicular and drone navigation, asset navigation and tracking, Internet of Things and 5G…
Accurate localization is an essential technology for the flexible navigation of robots in large-scale environments. Both SLAM-based and map-based localization will increase the computing load due to the increase in map size, which will…
Simultaneous state estimation and mapping is an essential capability for mobile robots working in dynamic urban environment. The majority of existing SLAM solutions heavily rely on a primarily static assumption. However, due to the presence…
To provide backup and augmentation to global navigation satellite system (GNSS), Doppler shift from Low Earth Orbit (LEO) satellites can be employed as signals of opportunity (SOP) for position, navigation and timing (PNT). Since the…