Related papers: 3-D Positioning and Environment Mapping for mmWave…
Ever more robust, accurate and detailed mapping using visual sensing has proven to be an enabling factor for mobile robots across a wide variety of applications. For the next level of robot intelligence and intuitive user interaction, maps…
Graph-SLAM is a well-established algorithm for constructing a topological map of the environment while simultaneously attempting the localisation of the robot. It relies on scan matching algorithms to align noisy observations along robot's…
Indoor localization plays a vital role in the era of the IoT and robotics, with WiFi technology being a prominent choice due to its ubiquity. We present a method for creating WiFi fingerprinting datasets to enhance indoor localization…
Simultaneous Localization and Mapping (SLAM) is a key component of autonomous systems operating in environments that require a consistent map for reliable localization. SLAM has been a widely studied topic for decades with most of the…
We consider the problem of channel estimation for millimeter wave (mmWave) systems, where, to minimize the hardware complexity and power consumption, an analog transmit beamforming and receive combining structure with only one radio…
Networks in 5G and beyond utilize millimeter wave (mmWave) radio signals, large bandwidths, and large antenna arrays, which bring opportunities in jointly localizing the user equipment and mapping the propagation environment, termed as…
Supporting high mobility in millimeter wave (mmWave) systems enables a wide range of important applications such as vehicular communications and wireless virtual/augmented reality. Realizing this in practice, though, requires overcoming…
SLAM technology plays a crucial role in indoor mapping and localization. A common challenge in indoor environments is the "double-sided mapping issue", where closely positioned walls, doors, and other surfaces are mistakenly identified as a…
Reconfigurable intelligent surface (RIS) is considered as an extraordinarily promising technology to solve the blockage problem of millimeter wave (mmWave) communications owing to its capable of establishing a reconfigurable wireless…
Future wireless networks may operate at millimeter-wave (mmW) and sub-terahertz (sub-THz) frequencies to enable high data rate requirements. While large antenna arrays are critical for reliable communications at mmW and sub-THz bands, these…
Millimeter-wave (mmWave) positioning has emerged as a promising technology for next-generation intelligent systems. The advent of reconfigurable intelligent surfaces (RISs) has revolutionized high-precision mmWave localization by enabling…
To execute collaborative tasks in unknown environments, a robotic swarm needs to establish a global reference frame and locate itself in a shared understanding of the environment. However, it faces many challenges in real-world scenarios,…
Integrated sensing and communication and millimeter wave (mmWave) have emerged as pivotal technologies for 6G networks. However, the narrow nature of mmWave beams requires precise alignments that typically necessitate large training…
With the capability to support gigabit data rates, millimetre-wave (mm-Wave) communication is unanimously considered a key technology of future cellular networks. However, the harsh propagation at such high frequencies makes these networks…
The tremendous bandwidth available in the millimeter wave (mmW) frequencies between 30 and 300 GHz have made these bands an attractive candidate for next-generation cellular systems. However, reliable communication at these frequencies…
Simultaneous localization and mapping (SLAM) during communication is emerging. This technology promises to provide information on propagation environments and transceivers' location, thus creating several new services and applications for…
Modern 3D laser-range scanners have a high data rate, making online simultaneous localization and mapping (SLAM) computationally challenging. Recursive state estimation techniques are efficient but commit to a state estimate immediately…
In this work, we propose a simultaneous localization and mapping (SLAM) system using a monocular camera and Ultra-wideband (UWB) sensors. Our system, referred to as VRSLAM, is a multi-stage framework that leverages the strengths and…
In the upcoming sixth generation (6G) of wireless communication systems, reconfigurable intelligent surfaces~(RISs) are regarded as one of the promising technological enablers, which can provide programmable signal propagation. Therefore,…
A new algorithm for 3D localization in multiplatform radar networks, comprising one transmitter and multiple receivers, is proposed. To take advantage of the monostatic sensor radiation pattern features, ad-hoc constraints are imposed in…