Related papers: 3-D Positioning and Environment Mapping for mmWave…
In this paper, we investigate the problem of UAV-aided user localization in wireless networks. Unlike the existing works, we do not assume perfect knowledge of the UAV location, hence we not only need to localize the users but also to track…
Millimeter wave (mmWave) communications have been postulated as one of the most disruptive technologies for future 5G systems. Among mmWave bands the 60-GHz radio technology is specially suited for ultradense small cells and mobile data…
Simultaneous localization and mapping (SLAM) approaches for mobile robots remains challenging in forest or arboreal fruit farming environments, where tree canopies obstruct Global Navigation Satellite Systems (GNSS) signals. Unlike indoor…
The current state of the art of Simultaneous Localisation and Mapping, or SLAM, on low power embedded systems is about sparse localisation and mapping with low resolution results in the name of efficiency. Meanwhile, research in this field…
In this paper, we propose a highly accurate continuous-time trajectory estimation framework dedicated to SLAM (Simultaneous Localization and Mapping) applications, which enables fuse high-frequency and asynchronous sensor data effectively.…
Beam alignment is required in millimeter wave communication to ensure high data rate transmission. However, with narrow beamwidth in massive MIMO, beam alignment could be computationally intensive due to the large number of beam pairs to be…
Collaborative Simultaneous Localization and Mapping (CSLAM) is a critical capability for enabling multiple robots to operate in complex environments. Most CSLAM techniques rely on the transmission of low-level features for visual and…
A Simultaneous Localization and Mapping (SLAM) system must be robust to support long-term mobile vehicle and robot applications. However, camera and LiDAR based SLAM systems can be fragile when facing challenging illumination or weather…
In this paper, we propose an environment semantics aided wireless communication framework to reduce the transmission latency and improve the transmission reliability, where semantic information is extracted from environment image data,…
Visual Simultaneous Localization and Mapping (vSLAM) is a widely used technique in robotics and computer vision that enables a robot to create a map of an unfamiliar environment using a camera sensor while simultaneously tracking its…
The emerging immersive and autonomous services have posed stringent requirements on both communications and localization. By considering the great potential of reconfigurable intelligent surface (RIS), this paper focuses on the joint…
Channel tracking in millimeter wave (mmWave) vehicular systems is crucial for maintaining robust vehicle-to-infrastructure (V2I) communication links, which can be leveraged to achieve high accuracy vehicle position and orientation tracking…
Self-localization during navigation with noisy sensors in an ambiguous world is computationally challenging, yet animals and humans excel at it. In robotics, Simultaneous Location and Mapping (SLAM) algorithms solve this problem though…
We study a mm-wave wireless network deployed along the roads of an urban area, to support localization and communication services simultaneously for outdoor mobile users. In this network, we propose a mm-wave initial beam-selection scheme…
Location-aided beam alignment has been proposed recently as a potential approach for fast link establishment in millimeter wave (mmWave) massive MIMO (mMIMO) communications. However, due to mobility and other imperfections in the estimation…
Integrating sensing functions into future mobile equipment has become an important trend. Realizing different types of sensing and achieving mutual enhancement under the existing communication hardware architecture is a crucial challenge in…
Efficient multi-agent 3D mapping is essential for robotic teams operating in unknown environments, but dense representations hinder real-time exchange over constrained communication links. In multi-agent Simultaneous Localization and…
In this paper, we investigate a self-sensing intelligent reflecting surface (IRS) aided millimeter wave (mmWave) integrated sensing and communication (ISAC) system. Unlike the conventional purely passive IRS, the self-sensing IRS can…
Simultaneous Localization and Mapping (SLAM) is one of the key robotics tasks as it tackles simultaneous mapping of the unknown environment defined by multiple landmark positions and localization of the unknown pose (i.e., attitude and…
MmWave multiple-input single-output (MISO) systems using a single-antenna receiver are regarded as promising solution for the near future, before the full-fledged 5G MIMO will be widespread. However, for MISO systems synchronization cannot…