Related papers: A Unified Initial Alignment Method of SINS Based o…

In various applications of land vehicle navigation and automatic guidance systems, Global Navigation Satellite System/Inertial Measurement Unit (GNSS/IMU) positioning performance crucially depends on the attitude determination accuracy…

In this paper, we propose a novel robocentric formulation of the visual-inertial navigation system (VINS) within a sliding-window filtering framework and design an efficient, lightweight, robocentric visual-inertial odometry (R-VIO)…

Location-aided beam alignment has been proposed recently as a potential approach for fast link establishment in millimeter wave (mmWave) massive MIMO (mMIMO) communications. However, due to mobility and other imperfections in the estimation…

Automatic image rotation estimation is a key preprocessing step in many vision pipelines. This task is challenging because angles have circular topology, creating boundary discontinuities that hinder standard regression methods. We present…

First-order optimization (FOO) algorithms are pivotal in numerous computational domains such as machine learning and signal denoising. However, their application to complex tasks like neural network training often entails significant…

Autonomous vehicle navigation is a key challenge in artificial intelligence, requiring robust and accurate decision-making processes. This research introduces a new end-to-end method that exploits multimodal information from a single…

Downlink reconfigurable intelligent surface (RIS)-assisted multi-input-multi-output (MIMO) systems are considered with far-field, near-field, and hybrid-far-near-field channels. According to the angular or distance information contained in…

In this paper, we propose a transmission mechanism for fluid antennas (FAs) enabled multiple-input multiple-output (MIMO) communication systems based on index modulation (IM), named FA-IM, which incorporates the principle of IM into…

A monocular visual-inertial system (VINS), consisting of a camera and a low-cost inertial measurement unit (IMU), forms the minimum sensor suite for metric six degrees-of-freedom (DOF) state estimation. However, the lack of direct distance…

Accurate relative orbit determination is a significant challenge in modern space operations, particularly when relying only on angular measurements. The inherent observability limitations of this approach make initial state estimation…

Aligning a robot's trajectory or map to the inertial frame is a critical capability that is often difficult to do accurately even though inertial measurement units (IMUs) can observe absolute roll and pitch with respect to gravity.…

This paper addresses joint target acquisition and position estimation in an OFDM-based integrated sensing and communication (ISAC) network with base station (BS) cooperation via a fusion center. A two-stage framework is proposed: in the…

Efficient beam alignment is a crucial component in millimeter wave systems with analog beamforming, especially in fast-changing vehicular settings. This paper proposes a position-aided approach where the vehicle's position (e.g., available…

First Order Bayesian Optimization (FOBO) is a sample efficient sequential approach to find the global maxima of an expensive-to-evaluate black-box objective function by suitably querying for the function and its gradient evaluations. Such…

Adapted from biological sequence alignment, trace alignment is a process mining technique used to visualize and analyze workflow data. Any analysis done with this method, however, is affected by the alignment quality. The best existing…

Accurate state estimation is a fundamental module for various intelligent applications, such as robot navigation, autonomous driving, virtual and augmented reality. Visual and inertial fusion is a popular technology for 6-DOF state…

Movable antenna (MA) technology offers a flexible approach to enhancing wireless channel conditions by adjusting antenna positions within a designated region. While most existing works focus on narrowband MA systems, this paper investigates…

We propose a multi-swarm approach to approximate the Pareto front of general multi-objective optimization problems that is based on the Consensus-based Optimization method (CBO). The algorithm is motivated step by step beginning with a…

Optimization-based state estimation is useful for nonlinear or constrained dynamic systems for which few general methods with established properties are available. The two fundamental forms are moving horizon estimation (MHE) which uses the…

Reconfigurable Intelligent Surface (RIS) plays a pivotal role in the sixth generation networks to enhance communication rate and localization accuracy. In this letter, we propose a positioning algorithm in a RIS-assisted environment, where…