Related papers: Closed-form Two-way TOA Localization and Synchroni…
We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization. We use two fixed-lag smoothers (FLS) to decouple accurate…
Underwater source localization problems are complicated and challenging: a) the sound propagation speed is often unknown and the unpredictable ocean current might lead to the uncertainties of sensor parameters (i.e. position and velocity);…
Ensuring safety in both autonomous driving and advanced driver-assistance systems (ADAS) depends critically on the efficient deployment of traffic sign recognition technology. While current methods show effectiveness, they often compromise…
This paper presents a general technique for the joint Direction-of-Arrival (DoA) and Time-of-Arrival (ToA) estimation in multipath environments. The proposed ultra-wideband technique is based on phase-mode expansions and the use of nearly…
In this paper, we propose time and frequency synchronization techniques for uplink multiuser OTFS (MU-OTFS) systems in high-mobility scenarios. This work focuses on accurately estimating and correcting timing offsets (TOs) and carrier…
Ultra-wideband (UWB) based positioning with fewer anchors has attracted significant research interest in recent years, especially under energy-constrained conditions. However, most existing methods rely on discrete-time representations and…
This work performs the design, real-time hardware realization, and experimental evaluation of a positioning system by ultra-violet (UV) communication under photon-level signal detection. The positioning is based on time-difference of…
Simulation data can be accurately labeled and have been expected to improve the performance of data-driven algorithms, including object detection. However, due to the various domain inconsistencies from simulation to reality…
Location-based services such as autonomous vehicles, drones, and indoor positioning require precise and scalable distance estimates. The bias and variance of range estimators inherently influence the resulting localization quality. In this…
In this work, we consider the problem of localizing multiple signal sources based on time-difference of arrival (TDOA) measurements. In the blind setting, in which the source signals are not known, the localization task is challenging due…
Dynamic Time Warping (DTW) has become the pragmatic choice for measuring distance between time series. However, it suffers from unavoidable quadratic time complexity when the optimal alignment matrix needs to be computed exactly. This…
Dynamic Time Warping (DTW) is an algorithm to align temporal sequences with possible local non-linear distortions, and has been widely applied to audio, video and graphics data alignments. DTW is essentially a point-to-point matching method…
Performances of an adaptive optics (AO) system are directly linked with the quality of its alignment. During the instrument calibration, having open loop fast tools with a large capture range are necessary to quickly assess the system…
Autonomous robotic systems heavily rely on environment knowledge to safely navigate. For search & rescue, a flying robot requires robust real-time perception, enabled by complementary sensors. IMU data constrains acceleration and rotation,…
In recent years, UWB has garnered widespread attention in academia and industry due to its low power consumption, wide bandwidth, and high time resolution characteristics. This paper introduces the design of an asynchronous IR-UWB…
Distance-based time series anomaly detection methods are prevalent due to their relative non-parametric nature and interpretability. However, the commonly used Euclidean distance is sensitive to noise. While existing works have explored…
Cooperative perception via communication among intelligent traffic agents has great potential to improve the safety of autonomous driving. However, limited communication bandwidth, localization errors and asynchronized capturing time of…
This paper proposes two compressive sampling based time of arrival (TOA) estimation algorithms using a sub-Nyquist rate receiver. We also describe a novel compressive sampling dictionary design for the compact representation of the received…
In this paper, a novel cooperation-aided localization and tracking approach, suitable for terahertz (THz) wireless systems is presented. It combines an angle of arrival (AoA) tracking algorithm with the two-way time of arrival method, in…
The Local Position Measurement system (LPM) is one of the most precise systems for 3D position estimation. It is able to operate in- and outdoor and updates at a rate up to 1000 measurements per second. Previous scientific publications…