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

Employing an inertial measurement unit (IMU) as an additional sensor can dramatically improve both reliability and accuracy of visual/Lidar odometry (VO/LO). Different IMU integration models are introduced using different assumptions on the…

Inertial Navigation Systems (INS) are algorithms that fuse inertial measurements of angular velocity and specific acceleration with supplementary sensors including GNSS and magnetometers to estimate the position, velocity and attitude, or…

MmWave multiple-input single-output (MISO) systems using a single-antenna receiver are regarded as promising solution for the near future, before the full-fledged 5G MIMO will be widespread. However, for MISO systems synchronization cannot…

Achieving efficient and consistent localization a prior map remains challenging in robotics. Conventional keyframe-based approaches often suffers from sub-optimal viewpoints due to limited field of view (FOV) and/or constrained motion, thus…

A fluid reconfigurable intelligent surface (fRIS)-aided integrated sensing and communication (ISAC) system is proposed to enhance multi-target sensing and multi-user communication. Unlike the conventional RIS, the fRIS employs movable…

Multimodal deep learning harnesses diverse imaging modalities, such as MRI sequences, to enhance diagnostic accuracy in medical imaging. A key challenge is determining the optimal timing for integrating these modalities-specifically,…

Physics-informed neural networks (PINNs) have emerged as a powerful framework for modeling physical systems and solving inverse problems. In such settings, sensors are deployed to capture observable system responses; however, the quality of…

This work presents a novel adaptive framework for simultaneously estimating spacecraft attitude and sensor misalignment. Uncorrected star tracker misalignment can introduce significant pointing errors that compromise mission objectives in…

This paper proposes a novel liquid intelligent metasurface (LIM)-assisted downlink multi-user multiple-input single-output (MISO) system, wherein both the base station (BS) and the metasurface are respectively equipped with fluid antennas…

The so-called fast inertial relaxation engine is a first-order method for unconstrained smooth optimization problems. It updates the search direction by a linear combination of the past search direction, the current gradient and the…

Multi-Agent Path Finding (MAPF) aims to move agents from their start to goal vertices on a graph. Lifelong MAPF (LMAPF) continuously assigns new goals to agents as they complete current ones. To guide agents' movement in LMAPF, prior works…

Inertial measurement units (IMUs) are fundamental sensing components in multi-source integrated navigation systems, and their performance directly determines the accuracy and reliability of solutions. However, the precision of low-cost IMUs…

We present a robust system for state estimation that fuses measurements from multiple lidars and inertial sensors with GNSS data. To initiate the method, we use the prior GNSS pose information. We then perform incremental motion in…

An Inertial Navigation System (INS) is a system that integrates acceleration and angular velocity readings from an Inertial Measurement Unit (IMU), along with other sensors such as Global Navigation Satellite Systems (GNSS) position, GNSS…

Filter-based visual inertial navigation system (VINS) has attracted mobile-robot researchers for the good balance between accuracy and efficiency, but its limited mapping quality hampers long-term high-accuracy state estimation. To this…

Unmanned aerial vehicles (UAVs) integrated into cellular networks face significant challenges from air-to-ground interference. To address this, we propose a downlink UAV communication system that leverages a fluid antenna system (FAS)-…

Pose estimation purely based on 3D point-cloud could suffer from degradation, e.g. scan blocks or scans in repetitive environments. To deal with this problem, we propose an approach for fusing 3D spinning LiDAR and IMU to estimate the…

A fair beam allocation framework through reconfigurable intelligent surfaces (RISs) is proposed, incorporating the Max-min criterion. This framework focuses on designing explicit beamforming functionalities through optimization. Firstly,…

Approximate bi-level optimization (ABLO) consists of (outer-level) optimization problems, involving numerical (inner-level) optimization loops. While ABLO has many applications across deep learning, it suffers from time and memory…

This letter proposes a new approach for Inertial Measurement Unit (IMU) preintegration, a fundamental building block that can be leveraged in different optimization-based Inertial Navigation System (INS) localization solutions. Inspired by…