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Localization is a key feature of future Sixth Generation (6G) net-works with foreseen accuracy requirements down to the millimeter level, to enable novel applications in the fields of telesurgery, high-precision manufacturing, and others.…
The design of localization systems for small-scale flapping-wing aerial robots faces relevant challenges caused by the limited payload and onboard computational resources. This paper presents an ultra-wideband localization system…
Ray tracing (RT) simulations require accurate transmitter (TX) and receiver (RX) location information from real-world measurements to accurately characterize wireless propagation behavior in an environment. Such wireless propagation…
This paper investigates the design of channel estimation and 3D localization algorithms in a challenging scenario, where a sub-connected planar extremely large-scale multiple-input multiple-output (XL-MIMO) communicates with multi-antenna…
It is well known that a single anchor can be used to determine the position and orientation of an agent communicating with it. However, it is not clear what information about the anchor or the agent is necessary to perform this…
Permanent magnet tracking using the external sensor array is crucial for the accurate localization of wireless capsule endoscope robots. Traditional tracking algorithms, based on the magnetic dipole model and Levenberg-Marquardt (LM)…
Indoor localization for autonomous micro aerial vehicles (MAVs) requires specific localization techniques, since the Global Positioning System (GPS) is usually not available. We present an efficient onboard computer vision approach that…
Sensor-based 3D hand tracking is still challenging despite the massive exploration of different sensing modalities in the past decades. This work describes the design, implementation, and evaluation of a novel induced magnetic field-based…
Radio-based localization systems conventionally require stationary reference points (e.g. anchors) with precisely surveyed positions, making deployment time-consuming and costly. This paper presents an empirical evaluation of collaborative…
Smartphones have become a popular tool for indoor localization and position estimation of users. Existing solutions mainly employ Wi-Fi, RFID, and magnetic sensing techniques to track movements in crowded venues. These are highly sensitive…
Localization of autonomous mobile robots (AMRs) in enclosed or semi-enclosed environments such as offices, hotels, hospitals, indoor parking facilities, and underground spaces where GPS signals are weak or unavailable remains a major…
Passive Radio-Frequency IDentification (RFID) systems carry critical importance for Internet of Things (IoT) applications due to their energy harvesting capabilities. RFID based position estimation, in particular, is expected to facilitate…
We present a novel, reflection-aware method for 3D sound localization in indoor environments. Unlike prior approaches, which are mainly based on continuous sound signals from a stationary source, our formulation is designed to localize the…
This paper presents a learning-based framework for approximating an exact magnetic-field interaction model, supported by both numerical and experimental validation. High-fidelity magnetic-field interaction modeling is essential for…
Accurate localization in Orthogonal Frequency Division Multiplexing (OFDM)-based massive Multiple-Input Multiple-Output (MIMO) systems depends critically on phase coherence across subcarriers and antennas. However, practical systems suffer…
This paper experimentally and theoretically investigates the fundamental bounds on radio localization precision of far-field Received Signal Strength (RSS) measurements. RSS measurements are proportional to power-flow measurements…
Inter-agent relative localization is critical for many multi-robot systems operating in the absence of external positioning infrastructure or prior environmental knowledge. We propose a novel inter-agent relative 3D pose estimation system…
Optically-pumped atomic magnetometers have previously been used in arrays to reject interference from far away sources and enable the sensitive detection of local sources of radio frequency (RF) signals, useful, for instance, in the…
Single molecule localization microscopy is widely used in biological research for measuring the nanostructures of samples smaller than the diffraction limit. This study uses multifocal plane microscopy and addresses the 3D single molecule…
Indoor magnetic fields are a combination of Earth's magnetic field and disruptions induced by ferromagnetic objects, such as steel structural components in buildings. As a result of these disruptions, pervasive in indoor spaces, magnetic…