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We propose a novel technique for joint estimation of angle and delay of radio wave arrival in a multipath mobile communication channel using knowledge of the transmitted pulse shape function. Employing an array of sensors to sample the…
This paper proposes the use of subspace tracking algorithms for performing MIMO channel estimation at millimeter wave (mmWave) frequencies. Using a subspace approach, we develop a protocol enabling the estimation of the right (resp. left)…
Accurate Direction of Arrival (DoA) estimation is critical for applications in robotics and communication, but high costs and complexity of coherent multi-channel receivers hinder accessibility. This work proposes a cost-effective DoA…
Precise, seamless, and efficient train localization as well as long-term railway environment monitoring is the essential property towards reliability, availability, maintainability, and safety (RAMS) engineering for railroad systems.…
In wireless networks, an essential step for precise range-based localization is the high-resolution estimation of multipath channel delays. The resolution of traditional delay estimation algorithms is inversely proportional to the bandwidth…
Visual understanding of 3D environments in real-time, at low power, is a huge computational challenge. Often referred to as SLAM (Simultaneous Localisation and Mapping), it is central to applications spanning domestic and industrial…
A framework for online simultaneous localization, mapping and self-calibration is presented which can detect and handle significant change in the calibration parameters. Estimates are computed in constant-time by factoring the problem and…
We propose a neurobiologically inspired visual simultaneous localization and mapping (SLAM) system based on direction sparse method to real-time build cognitive maps of large-scale environments from a moving stereo camera. The core SLAM…
Simultaneous localization and mapping (SLAM) during communication is emerging. This technology promises to provide information on propagation environments and transceivers' location, thus creating several new services and applications for…
Perceiving and mapping the surroundings are essential for enabling autonomous navigation in any robotic platform. The algorithm class that enables accurate mapping while correcting the odometry errors present in most robotics systems is…
Millimeter wave signals and large antenna arrays are considered enabling technologies for future 5G networks. Despite their benefits for achieving high data rate communications, their potential advantages for tracking of the location of the…
This paper introduces a novel channel knowledge map (CKM)-assisted dual-domain tracking and predictive beamforming scheme for high-mobility wireless networks. The central premise is that the CKM integrates both the coordinate and beam…
Positioning using wave signal measurements is used in several applications, such as GPS systems, structure from sound and Wifi based positioning. Mathematically, such problems require the computation of the positions of receivers and/or…
Simultaneous localization and mapping (SLAM) is a critical capability in autonomous navigation, but in order to scale SLAM to the setting of "lifelong" SLAM, particularly under memory or computation constraints, a robot must be able to…
Existing Simultaneous Localization and Mapping (SLAM) approaches are limited in their scalability due to growing map size in long-term robot operation. Moreover, processing such maps for localization and planning tasks leads to the…
This paper presents a novel approach to visual simultaneous localization and mapping (SLAM) using multiple RGB-D cameras. The proposed method, Multicam-SLAM, significantly enhances the robustness and accuracy of SLAM systems by capturing…
Multipath-based simultaneous localization and mapping (MP-SLAM) is a well established approach to obtain position information of transmitters and receivers as well as information regarding the propagation environments in future multiple…
Millimeter wave signals and large antenna arrays are considered enabling technologies for future 5G networks. While their benefits for achieving high-data rate communications are well-known, their potential advantages for accurate…
We propose a new antenna selection scheme for a massive MIMO system with a single user terminal and a base station with a large number of antennas. We consider a practical scenario where there is a realistic correlation among the antennas…
This letter proposes a parametric sparse multiple input multiple output (MIMO)-OFDM channel estimation scheme based on the finite rate of innovation (FRI) theory, whereby super-resolution estimates of path delays with arbitrary values can…