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Spatially inhomogeneous magnetic fields offer a valuable, non-visual information source for positioning. Among systems leveraging this, magnetic field-based simultaneous localization and mapping (SLAM) systems are particularly attractive.…
The ability of robots to estimate their location is crucial for a wide variety of autonomous operations. In settings where GPS is unavailable, measurements of transmissions from fixed beacons provide an effective means of estimating a…
The D-band offering an untapped wide bandwidth is promising for high data rate communication and high-resolution wireless sensing. However, these potentials are hindered by the low performance and energy efficiency of the D-band circuits…
High accuracy localisation technologies exist but are prohibitively expensive to deploy for large indoor spaces such as warehouses, factories, and supermarkets to track assets and people. However, these technologies can be used to lend…
Millimeter-wave (mmWave) communication systems rely on narrow beams for achieving sufficient receive signal power. Adjusting these beams is typically associated with large training overhead, which becomes particularly critical for…
Indoor localization has drawn much attention owing to its potential for supporting location based services. Among various indoor localization techniques, the received signal strength (RSS) based technique is widely researched. However, in…
We present a novel method for precise 3D object localization in single images from a single calibrated camera using only 2D labels. No expensive 3D labels are needed. Thus, instead of using 3D labels, our model is trained with…
The present paper describes the effect of magnetic pick-up coil transfer functions on mode number analysis in magnetically confined fusion plasmas. Magnetic probes mounted inside the vacuum chamber are widely used to characterize the mode…
Remote magnetic sensing can be used to monitor the position of objects in real-time, enabling ground transport monitoring, underground infrastructure mapping and hazardous detection. However, magnetic signals are typically weak and complex,…
In this paper we investigate the problem of localizing a mobile device based on readings from its embedded sensors utilizing machine learning methodologies. We consider a real-world environment, collect a large dataset of 3110 datapoints,…
The increasing demands for high-throughput and energy-efficient wireless communications are driving the adoption of extremely large antennas operating at high-frequency bands. In these regimes, multiple users will reside in the radiative…
In this work, the problem of localizing ground devices (GDs) is studied comparing the performance of four range-free (RF) localization algorithms that use a mobile anchor (MA). All the investigated algorithms are based on the so-called…
In this paper, we present INertial Lidar Localisation Autocalibration And MApping (IN2LAAMA): an offline probabilistic framework for localisation, mapping, and extrinsic calibration based on a 3D-lidar and a 6-DoF-IMU. Most of today's…
This work presents two complementary real-time rail vehicle localization methods based on magnetic field measurements and a pre-recorded magnetic map. The first uses a particle filter reweighted via magnetic similarity, employing a…
The research interest on location-based services has increased during the last years ever since 3D centimetre accuracy inside intelligent environments could be confronted with. This work proposes an indoor local positioning system based on…
In wireless networks, an essential step for precise range-based localization is the high-resolution estimation of multipath channel delays. The resolution of traditional delay estimation algorithms is inversely proportional to the bandwidth…
This paper studies a networked sensing system with multiple base stations (BSs), which collaboratively sense the unknown and random three-dimensional (3D) location of a target based on the target-reflected echo signals received at the BSs.…
Autonomous locomotion for mobile ground robots in unstructured environments such as waypoint navigation or flipper control requires a sufficiently accurate prediction of the robot-terrain interaction. Heuristics like occupancy grids or…
Determining multi-robot motion policies for persistently monitoring a region with limited sensing, communication, and localization constraints in non-GPS environments is a challenging problem. To take the localization constraints into…
We present a novel, robust sound source localization algorithm considering back-propagation signals. Sound propagation paths are estimated by generating direct and reflection acoustic rays based on ray tracing in a backward manner. We then…