Related papers: Sensor Fusion for Magneto-Inductive Navigation
In this paper, localization using narrowband communication signals are considered in the presence of fading channels with time of arrival measurements. When narrowband signals are used for localization, due to existing hardware constraints,…
Inertial navigation systems (INS) are widely used in both manned and autonomous platforms. One of the most critical tasks prior to their operation is to accurately determine their initial alignment while stationary, as it forms the…
This paper studies the estimation of cascaded channels in passive intelligent reflective surface (IRS)- aided multiple-input multiple-output (MIMO) systems employing hybrid precoders and combiners. We propose a low-complexity solution that…
How should representations from complementary sensors be integrated for autonomous driving? Geometry-based sensor fusion has shown great promise for perception tasks such as object detection and motion forecasting. However, for the actual…
Benefitting from the vast spatial degrees of freedom, the amalgamation of integrated sensing and communication (ISAC) and massive multiple-input multiple-output (MIMO) is expected to simultaneously improve spectral and energy efficiencies…
Accurate and robust vehicle localization in highly urbanized areas is challenging. Sensors are often corrupted in those complicated and large-scale environments. This paper introduces GNSS-FGO, an online and global trajectory estimator that…
This paper investigates radar-assisted user acquisition for downlink multi-user multiple-input multiple-output (MIMO) transmission using Orthogonal Frequency Division Multiplexing (OFDM) signals. Specifically, we formulate a concise…
Inertial sensors are widely utilized in smartphones, drones, robots, and IoT devices, playing a crucial role in enabling ubiquitous and reliable localization. Inertial sensor-based positioning is essential in various applications, including…
Magnetic navigation systems, including magnetic tracking systems and magnetic actuation systems, have shown great potential for occlusion-free localization and remote control of intracorporeal medical devices and robots in minimally…
Harnessing the potential of quantum sensors to assist in navigation requires enabling their operation in complex, dynamic environments and integrating them within existing navigation systems. While cross-couplings from platform dynamics…
In this paper, we address the problem of transmit beamspace design for multiple-input multiple-output (MIMO) radar with colocated antennas in application to direction-of-arrival (DOA) estimation. A new method for designing the transmit…
Recently, learning-based approaches show promising results in navigation tasks. However, the poor generalization capability and the simulation-reality gap prevent a wide range of applications. We consider the problem of improving the…
World models for autonomous driving have the potential to dramatically improve the reasoning capabilities of today's systems. However, most works focus on camera data, with only a few that leverage lidar data or combine both to better…
This paper presents a state-of-the-art LiDAR based autonomous navigation system for under-canopy agricultural robots. Under-canopy agricultural navigation has been a challenging problem because GNSS and other positioning sensors are prone…
The current fusion positioning systems are mainly based on filtering algorithms, such as Kalman filtering or particle filtering. However, the system complexity of practical application scenarios is often very high, such as noise modeling in…
Integrated sensing and communication (ISAC) is a promising solution to accelerate edge inference via the dual use of wireless signals. However, this paradigm needs to minimize the inference error and latency under ISAC co-functionality…
Magnetic soft continuum robots (MSCRs) have emerged as a promising technology for minimally invasive interventions, offering enhanced dexterity and remote-controlled navigation in confined lumens. Unlike conventional guidewires with…
Navigation in Global Positioning Systems (GPS)-denied environments requires robust estimators reliant on fusion of inertial sensors able to estimate rigid-body's orientation, position, and linear velocity. Ultra-wideband (UWB) and Inertial…
In this paper, we propose a transmission mechanism for fluid antennas (FAs) enabled multiple-input multiple-output (MIMO) communication systems based on index modulation (IM), named FA-IM, which incorporates the principle of IM into…
In robotic navigation, maintaining precise pose estimation and navigation in complex and dynamic environments is crucial. However, environmental challenges such as smoke, tunnels, and adverse weather can significantly degrade the…