Related papers: Computer Vision Aided mmWave Beam Alignment in V2X…
We present 4D-Net, a 3D object detection approach, which utilizes 3D Point Cloud and RGB sensing information, both in time. We are able to incorporate the 4D information by performing a novel dynamic connection learning across various…
Using environmental sensory data can enhance communications beam training and reduce its overhead compared to conventional methods. However, the availability of fresh sensory data during inference may be limited due to sensing constraints…
Millimeter-wave (mmWave) frequencies promise multi-gigabit connectivity for vehicle-to-everything (V2X) networks, but face challenges in terms of severe path loss and mobility-related beam misalignment. Reliable V2X connectivity requires…
We present a novel approach to reconstructing lightweight, CAD-based representations of scanned 3D environments from commodity RGB-D sensors. Our key idea is to jointly optimize for both CAD model alignments as well as layout estimations of…
User location is a piece of critical information for network management and control. However, location uncertainty is unavoidable in certain settings leading to localization errors. In this paper, we consider the user location uncertainty…
Millimeter-wave communications is the most promising technology for next-generation cellular wireless systems, thanks to the large bandwidth available compared to sub-6 GHz networks. Nevertheless, communication at these frequencies requires…
The ability to reliably perceive the environmental states, particularly the existence of objects and their motion behavior, is crucial for autonomous driving. In this work, we propose an efficient deep model, called MotionNet, to jointly…
As the real propagation environment becomes in creasingly complex and dynamic, millimeter wave beam prediction faces huge challenges. However, the powerful cross modal representation capability of vision-language model (VLM) provides a…
Directional beamforming is a crucial component for realizing robust wireless communication systems using millimeter wave (mmWave) technology. Beam alignment using brute-force search of the space introduces time overhead while location aided…
Millimeter-wave communications rely on narrow-beam transmissions to cope with the strong signal attenuation at these frequencies, thus demanding precise alignment between transmitter and receiver. However, the beam-alignment procedure may…
Mobile robots that navigate in unknown environments need to be constantly aware of the dynamic objects in their surroundings for mapping, localization, and planning. It is key to reason about moving objects in the current observation and at…
This paper develops a stop line aided cooperative positioning framework for connected vehicles, which creatively utilizes the location of the stop-line to achieve the positioning enhancement for a vehicular ad-hoc network (VANET) in…
Integrating LiDAR and Camera information into Bird's-Eye-View (BEV) has become an essential topic for 3D object detection in autonomous driving. Existing methods mostly adopt an independent dual-branch framework to generate LiDAR and camera…
The problem of segmenting a given image into coherent regions is important in Computer Vision and many industrial applications require segmenting a known object into its components. Examples include identifying individual parts of a…
Future wireless connectivity is envisioned to accommodate functionalities far beyond broadband data transmission over point-to-point direct links, enabling novel scenarios, such as communication behind blockers and around corners, and…
Current research on trajectory prediction primarily relies on data collected by onboard sensors of an ego vehicle. With the rapid advancement in connected technologies, such as vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I)…
Millimeter wave (mmWave) has great potential in realizing high data rate thanks to the large spectral channels. It is considered as a key technology for the fifth generation wireless networks and is already used in wireless LAN (e.g., IEEE…
The goal of this paper is to estimate the viewpoint for a novel object. Standard viewpoint estimation approaches generally fail on this task due to their reliance on a 3D model for alignment or large amounts of class-specific training data…
Image-based 3D object detection is an inevitable part of autonomous driving because cheap onboard cameras are already available in most modern cars. Because of the accurate depth information, currently, most state-of-the-art 3D object…
Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…