Related papers: Clock and Orientation-Robust Simultaneous Radio Lo…
Distributed massive multiple-input multiple-output networks utilize a large number of distributed access points (APs) to serve multiple user equipments (UEs), offering significant potential for both communication and localization. However,…
Simultaneous localization and mapping (SLAM) are essential in numerous robotics applications, such as autonomous navigation. Traditional SLAM approaches infer the metric state of the robot along with a metric map of the environment. While…
Opportunistic navigation using cellular signals is appealing for scenarios where other navigation technologies face challenges. In this paper, long-term evolution (LTE) downlink signals from two neighboring commercial base stations (BS) are…
Recent work has shown impressive localization performance using only images of ground textures taken with a downward facing monocular camera. This provides a reliable navigation method that is robust to feature sparse environments and…
Precise localization is one key element of the Internet of Things (IoT). Especially concepts for position estimation when Global Navigation Satellite Systems (GNSS) are unavailable have moved into the focus. One crucial component for…
In this paper, we propose a fully distributed algorithm for joint clock skew and offset estimation in wireless sensor networks based on belief propagation. In the proposed algorithm, each node can estimate its clock skew and offset in a…
Millimeter wave multiple-input multiple-output (MIMO) communication systems must operate over sparse wireless links and will require large antenna arrays to provide high throughput. To achieve sufficient array gains, these systems must…
Robots navigating indoor environments often have access to architectural plans, which can serve as prior knowledge to enhance their localization and mapping capabilities. While some SLAM algorithms leverage these plans for global…
In this work, the uplink channel estimation problem is considered for a millimeter wave (mmWave) multi-input multi-output (MIMO) system. It is well known that pilot overhead and computation complexity in estimating the channel increases…
Simultaneous Localization and Mapping (SLAM) has been considered as a solved problem thanks to the progress made in the past few years. However, the great majority of LiDAR-based SLAM algorithms are designed for a specific type of payload…
Millimeter wave (mmWave) communication with large array gains is a key ingredient of next generation (5G) wireless networks. Effective communication in mmWaves usually depends on the knowledge of the channel. We refer to the problem of…
Device localization and radar-like mapping are at the heart of integrated sensing and communication, enabling not only new services and applications, but can also improve communication quality with reduced overheads. These forms of sensing…
Modern 3D laser-range scanners have a high data rate, making online simultaneous localization and mapping (SLAM) computationally challenging. Recursive state estimation techniques are efficient but commit to a state estimate immediately…
Wireless OFDM channels can be approximated by a time varying filter with sparse time domain taps. Recent achievements in sparse signal processing such as compressed sensing have facilitated the use of sparsity in estimation, which improves…
Monocular simultaneous localization and mapping (SLAM) is emerging in advanced driver assistance systems and autonomous driving, because a single camera is cheap and easy to install. Conventional monocular SLAM has two major challenges…
Due to 5G millimeter wave (mmWave), spatial channel parameters are becoming highly resolvable, enabling accurate vehicle localization and mapping. We propose a novel method of radio simultaneous localization and mapping (SLAM) with the…
Achieving real-time Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian splatting (3DGS) in large-scale real-world environments remains challenging, as existing methods still struggle to jointly achieve low-latency pose…
Simultaneous Localization and Mapping (SLAM) systems are fundamental building blocks for any autonomous robot navigating in unknown environments. The SLAM implementation heavily depends on the sensor modality employed on the mobile…
Simultaneous localisation and mapping (SLAM) play a vital role in autonomous robotics. Robotic platforms are often resource-constrained, and this limitation motivates resource-efficient SLAM implementations. While sparse visual SLAM…
This letter introduces a novel framework for dense Visual Simultaneous Localization and Mapping (VSLAM) based on Gaussian Splatting. Recently, SLAM based on Gaussian Splatting has shown promising results. However, in monocular scenarios,…