Related papers: Cooperative Localization with Angular Measurements…
Cooperative localization (CL) is an important technology for innovative services such as location-aware communication networks, modern convenience, and public safety. We consider wireless networks with mobile agents that aim to localize…
This paper develops a distributed collaborative localization algorithm based on an extended kalman filter. This algorithm incorporates Ultra-Wideband (UWB) measurements for vehicle to vehicle ranging, and shows improvements in localization…
In this paper, we proposed the Interpenetrating Cooperative Localization (ICL) method to enhance the localization accuracy in dynamic connected vehicle networks. This mechanism makes the information from one group of connected vehicles…
We propose a hybrid message passing method for distributed cooperative localization and tracking of mobile agents. Belief propagation and mean field message passing are employed for, respectively, the motion-related and measurement-related…
A major challenge in cooperative sensing is to weight the measurements taken from the various sources to get an accurate result. Ideally, the weights should be inversely proportional to the error in the sensing information. However,…
In this paper, a novel cooperation-aided localization and tracking approach, suitable for terahertz (THz) wireless systems is presented. It combines an angle of arrival (AoA) tracking algorithm with the two-way time of arrival method, in…
Recent advancements in LiDAR technology have significantly lowered costs and improved both its precision and resolution, thereby solidifying its role as a critical component in autonomous vehicle localization. Using sophisticated 3D…
Cooperative perception is challenging for safety-critical autonomous driving applications.The errors in the shared position and pose cause an inaccurate relative transform estimation and disrupt the robust mapping of the Ego vehicle. We…
This letter investigates target position estimation in integrated sensing and communication networks composed of multiple cooperating monostatic base stations (BSs). Each BS employs a MIMO-orthogonal time-frequency space (OTFS) scheme,…
This paper describes a novel communication-spare cooperative localization algorithm for a team of mobile unmanned robotic vehicles. Exploiting an event-based estimation paradigm, robots only send measurements to neighbors when the expected…
Cooperative localization with map matching has been shown to reduce Global Navigation Satellite System (GNSS) localization error from several meters to sub-meter level by fusing the GNSS measurements of four vehicles in our previous work.…
Localizing mobile robotic nodes in indoor and GPS-denied environments is a complex problem, particularly in dynamic, unstructured scenarios where traditional cameras and LIDAR-based sensing and localization modalities may fail.…
Cooperative localization is an important technique in environments devoid of GPS-based localization, more so in underwater scenarios, where none of the terrestrial localization techniques based on radio frequency or optics are suitable due…
This paper studies a coordinate alignment problem for cooperative mobile sensor network localization with range-based measurements. The network consists of target nodes, each of which has only access position information in a local fixed…
An essential function for automated vehicle technologies is accurate localization. It is difficult, however, to achieve lane-level accuracy with low-cost Global Navigation Satellite System (GNSS) receivers due to the biased noisy…
Sharing and joint processing of camera feeds and sensor measurements, known as Cooperative Perception (CP), has emerged as a new technique to achieve higher perception qualities. CP can enhance the safety of Autonomous Vehicles (AVs) where…
This paper presents the development of a system able to estimate the 2D relative position of nodes in a wireless network, based on distance measurements between the nodes. The system uses ultra wide band ranging technology and the Bluetooth…
Light emitting diode (LED) based visible light positioning (VLP) networks can provide accurate location information in indoor environments. In this manuscript, we propose to employ cooperative localization for visible light networks by…
A reliable, accurate, and affordable positioning service is highly required in wireless networks. In this paper, the novel Message Passing Hybrid Localization (MPHL) algorithm is proposed to solve the problem of cooperative distributed…
In this paper, we study probabilistic time-of-arrival (ToA) and angle-of-arrival (AoA) joint localization in real indoor environments. To mitigate the effects of multipath propagation, the joint localization algorithm incorporates into the…