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In this paper, we propose an novel implementation of a simultaneous localization and mapping (SLAM) system based on a monocular camera from an unmanned aerial vehicle (UAV) using Depth prediction performed with Capsule Networks (CapsNet),…
Simultaneous localization and mapping (SLAM) provides user tracking and environmental mapping capabilities, enabling communication systems to gain situational awareness. Advanced communication networks with ultra-wideband, multiple…
Angle of arrival (AOA) is widely used to locate a wireless signal emitter in unmanned aerial vehicle (UAV) localization. Compared with received signal strength (RSS) and time of arrival (TOA), it has higher accuracy and is not sensitive to…
This paper proposes a novel approach for Simultaneous Localization and Mapping by fusing natural and artificial landmarks. Most of the SLAM approaches use natural landmarks (such as keypoints). However, they are unstable over time,…
Delay alignment modulation (DAM) is an emerging technique for achieving inter-symbol interference (ISI)-free wideband communications using spatial-delay processing, without relying on channel equalization or multi-carrier transmission.…
Simultaneous Localization and Mapping (SLAM) allows mobile robots to navigate without external positioning systems or pre-existing maps. Radar is emerging as a valuable sensing tool, especially in vision-obstructed environments, as it is…
In this paper, we studied the problem of beam alignment for millimeter wave (mmWave) communications, in which we assume a hybrid analog and digital beamforming structure is employed at the transmitter (i.e. base station), and an…
In this paper, we present our spectrum sharing algorithm between a multi-input multi-output (MIMO) radar and Long Term Evolution (LTE) cellular system with multiple base stations (BS)s. We analyze the performance of MIMO radars in detecting…
In view of the problems that visual simultaneous localization and mapping (VSLAM) are susceptible to environmental light interference and luminosity inconsistency, the visual simultaneous localization and mapping technology based on near…
In this study, a novel transmission scheme is proposed to serve radar-sensing and communication objectives at the same time and allocated bandwidth. The proposed transmitted frame non-orthogonally superimposes two different waveforms, which…
In this letter, we propose MAROAM, a millimeter wave radar-based SLAM framework, which employs a two-step feature selection process to build the global consistent map. Specifically, we first extract feature points from raw data based on…
A Simultaneous Localization and Mapping (SLAM) system must be robust to support long-term mobile vehicle and robot applications. However, camera and LiDAR based SLAM systems can be fragile when facing challenging illumination or weather…
Localization within a known environment is a crucial capability for mobile robots. Simultaneous Localization and Mapping (SLAM) is a prominent solution to this problem. SLAM is a framework that consists of a diverse set of computational…
With the advent of extremely large-scale MIMO (XL-MIMO), mmWave/THz bands and ultra-wideband transmission, future 6G systems demand real-time positioning with centimeter or even millimeter level accuracy. This paper addresses the pronounced…
In the upcoming sixth generation (6G) of wireless communication systems, reconfigurable intelligent surfaces~(RISs) are regarded as one of the promising technological enablers, which can provide programmable signal propagation. Therefore,…
We propose a novel semi-direct approach for monocular simultaneous localization and mapping (SLAM) that combines the complementary strengths of direct and feature-based methods. The proposed pipeline loosely couples direct odometry and…
In this paper, we present a multipath-based simultaneous localization and mapping (SLAM) algorithm that continuously adapts mulitiple map feature (MF) models describing specularly reflected multipath components (MPCs) from flat surfaces and…
Visual Simultaneous Localization and Mapping (vSLAM) is a prevailing technology for many emerging robotic applications. Achieving real-time SLAM on mobile robotic systems with limited computational resources is challenging because the…
Asynchronous microphone array calibration is a prerequisite for many audition robot applications. A popular solution to the above calibration problem is the batch form of Simultaneous Localisation and Mapping (SLAM), using the time…
In millimeter-wave (mmWave) communications, directional transmission based on beamforming is important to compensate for high pathloss. To maintain the desired direction transmission gain, beam scanning that involves the transmitter sending…