Related papers: Closed-form Two-way TOA Localization and Synchroni…
The Laser Interferometer Space Antenna is a joint ESA-NASA space-mission to detect and study mHz cosmic gravitational waves. The trajectories followed by its three spacecraft result in unequal- and time-varying arms, requiring use of the…
Compact wearable mapping system (WMS) has gained significant attention due to their convenience in various applications. Specifically, it provides an efficient way to collect prior maps for 3D structure inspection and robot-based "last-mile…
Modern applications such as voice recognition rely on the ability to compare signals to pre-recorded ones to classify them. However, this comparison typically needs to ignore differences due to signal noise, temporal offset, signal…
Anomaly detection techniques enable effective anomaly detection and diagnosis in multi-variate time series data, which are of major significance for today's industrial applications. However, establishing an anomaly detection system that can…
In recent years, thanks to the continuously reduced cost and weight of 3D Lidar, the applications of this type of sensor in robotics community have become increasingly popular. Despite many progresses, estimation drift and tracking loss are…
In this paper, a positioning technique based on Time Difference of Arrival (TDoA) measurements is analyzed. The proposed approach is designed to consent range and position estimation, using ultrasound transmissions of a stream of chirp…
This paper introduces a closed-form least-squares (LS) design approach for fast-convolution (FC) based variable-bandwidth (VBW) finite-impulse-response (FIR) filters. The proposed LS design utilizes frequency sampling and the VBW filter…
A novel near-field integrated sensing and communications framework for secure unmanned aerial vehicle (UAV) networks with high time efficiency is proposed. A ground base station (GBS) with large aperture size communicates with one…
This work introduces a novel numerical method that relaxes the minimal configuration requirements for joint sensors and sources localization (JSSL) in 3D space using time of arrival (TOA) measurements. Traditionally, the principle requires…
Traffic anomaly detection (TAD) in driving videos is critical for ensuring the safety of autonomous driving and advanced driver assistance systems. Previous single-stage TAD methods primarily rely on frame prediction, making them vulnerable…
This paper presents a loop closure method to correct the long-term drift in LiDAR odometry and mapping (LOAM). Our proposed method computes the 2D histogram of keyframes, a local map patch, and uses the normalized cross-correlation of the…
In this article, we address the prospects and key enabling technologies for highly efficient and accurate device positioning and tracking in 5G radio access networks. Building on the premises of ultra-dense networks as well as on the…
This work describes and assesses different methods for estimating the time-of-arrival (TOA) of impact-induced waves in isotropic plate-like structures. The methods considered include threshold crossing (TC), continuous wavelet transform…
Bearing-only Target Motion Analysis (TMA) is a promising technique for passive tracking in various applications as a bearing angle is easy to measure. Despite its advantages, bearing-only TMA is challenging due to the nonlinearity of the…
LiDAR odometry can achieve accurate vehicle pose estimation for short driving range or in small-scale environments, but for long driving range or in large-scale environments, the accuracy deteriorates as a result of cumulative estimation…
Non-linear Trajectory Optimisation (TO) methods require good initial guesses to converge to a locally optimal solution. A feasible guess can often be obtained by allocating a large amount of time for the trajectory to complete. However for…
In Global Navigation Satellite System (GNSS)-denied environments, terrestrial signals of opportunity (SoOP) offer an alternative for positioning, but synchronization impairments such as clock offsets, drift, and multipath limit performance.…
Autonomous underwater vehicles (AUVs) are sophisticated robotic platforms crucial for a wide range of applications. The accuracy of AUV navigation systems is critical to their success. Inertial sensors and Doppler velocity logs (DVL) fusion…
This paper introduces 2Fast-2Lamaa, a lidar-inertial state estimation framework for odometry, mapping, and localization. Its first key component is the optimization-based undistortion of lidar scans, which uses continuous IMU preintegration…
Anderson Acceleration (AA) is a method to accelerate the convergence of fixed point iterations for nonlinear, algebraic systems of equations. Due to the requirement of solving a least squares problem at each iteration and a reliance on…