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Thanks to the application of metamaterials, holographic multiple-input multiple-output (H-MIMO) is expected to achieve a higher spatial diversity gain with lower hardware complexity. With the aid of a circular antenna arrangement of H-MIMO,…

The dynamic mode decomposition (DMD) has become a leading tool for data-driven modeling of dynamical systems, providing a regression framework for fitting linear dynamical models to time-series measurement data. We present a simple…

To deal with the degeneration caused by the incomplete constraints of single sensor, multi-sensor fusion strategies especially in LiDAR-vision-inertial fusion area have attracted much interest from both the industry and the research…

In recent years, 3D Gaussian splatting (3D-GS) has emerged as a novel scene representation approach. However, existing vision-only 3D-GS methods often rely on hand-crafted heuristics for point-cloud densification and face challenges in…

Deep learning approaches for Visual-Inertial Odometry (VIO) have proven successful, but they rarely focus on incorporating robust fusion strategies for dealing with imperfect input sensory data. We propose a novel end-to-end selective…

With the leaping advances in autonomous vehicles and transportation infrastructure, dual function radar-communication (DFRC) systems have become attractive due to the size, cost and resource efficiency. A frequency modulated continuous…

Reliable perception is essential for autonomous driving systems to operate safely under diverse real-world traffic conditions. However, camera- and LiDAR-based perception systems suffer from performance degradation under adverse weather and…

Fast and Relaxed Vector Fitting (FRVF) is a frequency-domain system identification approach that has been widely adopted in electrical system modelling, while its application to mechanical systems has remained relatively unexplored. In this…

Integrated sensing and communication (ISAC) is a main application scenario of the sixth-generation mobile communication systems. Due to the fast-growing number of antennas and subcarriers in cellular systems, the computational complexity of…

In autonomous driving, transparency in the decision-making of perception models is critical, as even a single misperception can be catastrophic. Yet with multi-sensor inputs, it is difficult to determine how each modality contributes to a…

It is typically challenging for visual or visual-inertial odometry systems to handle the problems of dynamic scenes and pure rotation. In this work, we design a novel visual-inertial odometry (VIO) system called RD-VIO to handle both of…

We have proposed, to the best of our knowledge, the first-of-its-kind LiDAR-Inertial-Visual-Fused simultaneous localization and mapping (SLAM) system with a strong place recognition capacity. Our proposed SLAM system is consist of…

The Terahertz band holds a promise to enable both super-accurate sensing and ultra-fast communication. However, challenges arise that severe Doppler effects call for a waveform with high Doppler robustness while severe propagation path loss…

3D occupancy prediction based on multi-sensor fusion,crucial for a reliable autonomous driving system, enables fine-grained understanding of 3D scenes. Previous fusion-based 3D occupancy predictions relied on depth estimation for processing…

Accurate beam prediction is essential for mitigating signalling overhead and latency in integrated sensing and communication-enabled massive multi-input multi-output systems. With the aid of multimodal learning, the prediction accuracy can…

Orthogonal frequency division multiplexing (OFDM)-based integrated sensing and communication (ISAC) is promising for future sixth-generation mobile communication systems. Existing works focus on the joint estimation of the targets' range…

We present a data-driven method for separating complex, multiscale systems into their constituent time-scale components using a recursive implementation of dynamic mode decomposition (DMD). Local linear models are built from windowed…

Mobile robots that navigate in unknown environments need to be constantly aware of the dynamic objects in their surroundings for mapping, localization, and planning. It is key to reason about moving objects in the current observation and at…

Orthogonal frequency division multiplexing with index modulation (OFDM-IM) is a novel multicarrier transmission technique which has been proposed as an alternative to classical OFDM. The main idea of OFDM-IM is the use of the indices of the…

We propose a framework for tightly-coupled lidar inertial odometry via smoothing and mapping, LIO-SAM, that achieves highly accurate, real-time mobile robot trajectory estimation and map-building. LIO-SAM formulates lidar-inertial odometry…