Related papers: Exploiting Diffuse Multipath in 5G SLAM
Dynamic objects in the environment, such as people and other agents, lead to challenges for existing simultaneous localization and mapping (SLAM) approaches. To deal with dynamic environments, computer vision researchers usually apply some…
The use of base stations (BSs) and access points (APs) with a large number of antennas, called Massive MIMO (multiple-input multiple-output), is a key technology for increasing the capacity of 5G networks and beyond. While originally…
Simultaneous localization and mapping (SLAM) has achieved impressive performance in static environments. However, SLAM in dynamic environments remains an open question. Many methods directly filter out dynamic objects, resulting in…
Location awareness in wireless networks may enable many applications such as emergency services, autonomous driving and geographic routing. Although there are many available positioning techniques, none of them is adapted to work with…
Recently, millimeter-wave (mmWave) 5G localization has been shown to be to provide centimeter-level accuracy, lending itself to many location-aware applications, e.g., connected autonomous vehicles (CAVs). One assumption usually made in the…
As it becomes increasingly apparent that 4G will not be able to meet the emerging demands of future mobile communication systems, the question what could make up a 5G system, what are the crucial challenges and what are the key drivers is…
Millimeter-wave (mm-wave) communications requirebeamforming and consequent precise beam alignmentbetween the gNodeB (gNB) and the user equipment (UE) toovercome high propagation losses. This beam alignment needs tobe constantly updated for…
The millimeter wave (mmWave) bands and other high frequencies above 6~GHz have emerged as a central component of Fifth-Generation (5G) cellular standards to deliver high data rates and ultra-low latency. A key challenge in these bands is…
Sparse and feature SLAM methods provide robust camera pose estimation. However, they often fail to capture the level of detail required for inspection and scene awareness tasks. Conversely, dense SLAM approaches generate richer scene…
The use of the millimeter (mm) wave spectrum for next generation (5G) mobile communication has gained significant attention recently. The small carrier wavelengths at mmwave frequencies enable synthesis of compact antenna arrays, providing…
The 5G wireless network architecture will bring dense deployments of base stations called {\em small cells} for both outdoors and indoors traffic. The feasibility of their dense deployments depends on the existence of a high data-rate…
Mobile users are prone to experience beam failure due to beam drifting in millimeter wave (mmWave) communications. Sensing can help alleviate beam drifting with timely beam changes and low overhead since it does not need user feedback. This…
The spectrum-rich millimeter wave (mmWave) frequencies have the potential to alleviate the spectrum crunch that the wireless and cellular operators are already experiencing. However, compared with traditional wireless communication in the…
An essential task for a multi-robot system is generating a common understanding of the environment and relative poses between robots. Cooperative tasks can be executed only when a vehicle has knowledge of its own state and the states of the…
Recent work has shown impressive localization performance using only images of ground textures taken with a downward facing monocular camera. This provides a reliable navigation method that is robust to feature sparse environments and…
Fifth generation (5G) cellular standards are set to utilize millimeter wave (mmWave) frequencies, which enable data speeds greater than 10 Gbps and sub-centimeter localization accuracy. These capabilities rely on accurate estimates of the…
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,…
High-frequency bands such as millimeter-wave and terahertz require narrow beams due to path loss and shadowing. Beam alignment (BA) methods allow the transceivers to adjust the directions of these beams efficiently by exploiting the channel…
The millimeter wave (mmWave) bands offer the possibility of orders of magnitude greater throughput for fifth generation (5G) cellular systems. However, since mmWave signals are highly susceptible to blockage, channel quality on any one…
Mobile robots require basic information to navigate through an environment: they need to know where they are (localization) and they need to know where they are going. For the latter, robots need a map of the environment. Using sensors of a…