Related papers: A Closed-form Localization Method Utilizing Pseudo…
The localization of directional RF emitters presents significant challenges for electronic warfare applications. Traditional localization methods, designed for omnidirectional emitters, experience degraded performance when applied to…
In real-world applications for automatic guided vehicle (AGV) navigation, the positioning system based on the time-of-flight (TOF) measurements between anchors and tags is confronted with the problem of insufficient measurements caused by…
We study the problem of high accuracy localization of mobile nodes in a multipath-rich environment where sub-meter accuracies are required. We employ a peer-to-peer framework where the vehicles/nodes can get pairwise multipath-degraded…
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…
This paper studies a networked sensing system with multiple base stations (BSs), which collaboratively sense the unknown and random three-dimensional (3D) location of a target based on the target-reflected echo signals received at the BSs.…
Time-of-arrival (TOA)-based localization in mixed line-of-sight (LOS) and non-line-of-sight (NLOS) environments is challenging because conventional Euclidean range models do not capture diffraction-dominated propagation. We show that the…
The accuracy of time difference of arrival (TDOA)-based source localization is influenced by sensor location deployment. Many studies focus on optimal sensor placement (OSP) for TDOA-based localization without sensor location noises…
One strategy to obtain user location information in a wireless network operating at millimeter wave (mmWave) is based on the exploitation of the geometric relationships between the channel parameters and the user position. These…
We propose PRISM-Loc - a lightweight and robust approach for localization in large outdoor environments that combines a compact topological representation with a novel scan-matching and curb-detection module operating on raw LiDAR scans.…
In this paper, a 2-stage robust distributed algorithm is proposed for cooperative sensor network localization using time of arrival (TOA) data without identification of non-line of sight (NLOS) links. In the first stage, to overcome the…
We present novel lower bounds on the localization error using a network of satellites randomly deployed on a sphere around Earth. Our new analysis approach characterizes the localization performance by its asymptotic behavior as the number…
This paper considers the challenge of localizing ground users with the help of a radio-equipped unmanned aerial vehicle (UAV) that collects measurements from users. We utilize time-of-arrival (ToA) measurements estimated from the radio…
We consider the problem of self-localization by a resource-constrained mobile node given perturbed anchor position information and distance estimates from the anchor nodes. We consider normally-distributed noise in anchor position…
Real-time lane detection in embedded systems encounters significant challenges due to subtle and sparse visual signals in RGB images, often constrained by limited computational resources and power consumption. Although deep learning models…
In this study, a new subspace-constrained diagonal loading (SSC-DL) method is presented for robust beamforming against the issue of a mismatched direction of arrival (DoA), based on an extension to the well known diagonal loading (DL)…
Compared to LiDAR-based localization methods, which provide high accuracy but rely on expensive sensors, visual localization approaches only require a camera and thus are more cost-effective while their accuracy and reliability typically is…
This paper investigates unmanned aerial vehicle (UAV) localization using time difference of arrival (TDOA) measurements under mixed line-of-sight (LOS) and non-line-of-sight (NLOS) conditions. A 3D TDOA Cram\'er-Rao lower bound (CRLB) model…
Place Recognition enables the estimation of a globally consistent map and trajectory by providing non-local constraints in Simultaneous Localisation and Mapping (SLAM). This paper presents Locus, a novel place recognition method using 3D…
This paper presents an adaptive anchor pairs selection algorithm for UWB (ultra-wideband) TDOA-based (Time Difference of Arrival) indoor positioning systems. The method assumes dividing the system operation area into zones. The most…
A popular method to estimate the positions or directions-of-arrival (DOAs) of multiple sound sources using an array of microphones is based on steered-response power (SRP) beamforming. For a three-dimensional scenario, SRP-based methods…