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Modern on-road navigation systems heavily depend on integrating speed measurements with inertial navigation systems (INS) and global navigation satellite systems (GNSS). Telemetry-based applications typically source speed data from the…
Global Navigation Satellite Systems (GNSS) are integrated into many devices. However, civilian GNSS signals are usually not cryptographically protected. This makes attacks that forge signals relatively easy. Considering modern devices often…
Accurate localization and perception are pivotal for enhancing the safety and reliability of vehicles. However, current localization methods suffer from reduced accuracy when the line-of-sight (LOS) path is obstructed, or a combination of…
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…
Accurate and smooth global navigation satellite system (GNSS) positioning for pedestrians in urban canyons is still a challenge due to the multipath effects and the non-light-of-sight (NLOS) receptions caused by the reflections from…
Vision-based localization for autonomous driving has been of great interest among researchers. When a pre-built 3D map is not available, the techniques of visual simultaneous localization and mapping (SLAM) are typically adopted. Due to…
In this work, we research and evaluate multiple pose-graph fusion strategies for vehicle localization. We focus on fusing a single absolute localization system, i.e. automotive-grade Global Navigation Satellite System (GNSS) at 1 Hertz,…
Accurate and robust vehicle localization in highly urbanized areas is challenging. Sensors are often corrupted in those complicated and large-scale environments. This paper introduces GNSS-FGO, an online and global trajectory estimator that…
Challenging indoor and urban environments with severe multipath propagation and obstructed LoS (OLoS) degrade classical radio frequency (RF) positioning. Multipath-based simultaneous localization and mapping (MP-SLAM) is a promising remedy,…
In Global Navigation Satellite System (GNSS)-denied environments such as indoor parking structures or dense urban canyons, achieving accurate and robust vehicle positioning remains a significant challenge. This paper proposes a…
Existing deep neural network (DNN) based wireless localization approaches typically do not capture uncertainty inherent in their estimates. In this work, we propose and evaluate variational and scalable DNN approaches to measure the…
Annotating automotive radar data is a difficult task. This article presents an automated way of acquiring data labels which uses a highly accurate and portable global navigation satellite system (GNSS). The proposed system is discussed…
The capability to achieve high-precision positioning accuracy has been considered as one of the most critical requirements for vehicle-to-everything (V2X) services in the fifth-generation (5G) cellular networks. The non-line-of-sight (NLOS)…
High-precision navigation and positioning systems are critical for applications in autonomous vehicles and mobile mapping, where robust and continuous localization is essential. To test and enhance the performance of algorithms, some…
One of the most critical topics in autonomous driving or ride-sharing technology is to accurately localize vehicles in the world frame. In addition to common multi-view camera systems, it usually also relies on industrial grade sensors,…
Due to the vulnerability of civilian global positioning system (GPS) signals, the accuracy of phasor measurement units (PMUs) can be greatly compromised by GPS spoofing attacks (GSAs), which introduce phase shifts into true phase angle…
Stable and accurate tracking is essential for marine robotics, yet Global Navigation Satellite System (GNSS) signals vanish immediately below the sea surface. Traditional alternatives suffer from error accumulation, high computational…
Accurate and reliable navigation is essential for autonomous ground vehicle operations. Standard INS/GNSS fusion relies on GNSS position updates, which provide limited observability of orientation and inertial sensor error states,…
Recently, several global navigation satellite systems (GNSS) emerged following the transformative technology impact of the first GNSS: US Global Positioning System (GPS). The power level of GNSS signals as measured at the earths surface is…
The fundamental limits of single-anchor multi-antenna positioning are investigated. Exploiting the structure of the multiple input-multiple output-orthogonal frequency division multiplexing (MIMO-OFDM) channel at millimeter-wave…