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The LIght Detection And Ranging (LiDAR) sensor has become one of the most important perceptual devices due to its important role in simultaneous localization and mapping (SLAM). Existing SLAM methods are mainly developed for mechanical…
Advancements in lighting systems and photodetectors provide opportunities to develop viable alternatives to conventional communication and sensing technologies, especially in the vehicular industry. Most of the studies that propose visible…
Novel radio map estimation in optical wireless communications is proposed based on ML prediction rather than simulation techniques. ML training is performed on simulation and experimentally generated synthetic data and in both cases,…
The scattering of light impacts sensing and communication technologies throughout the electromagnetic spectrum. Overcoming the effects of time-varying scattering media is particularly challenging. In this article we introduce a new way to…
Lighting systems based on light-emitting diodes (LEDs) possess many benefits over their incandescent counterparts including longer lifespans, lower energy costs, better quality of light and no toxic elements, all without sacrificing…
Localization is expected to play a significant role in future wireless networks as positioning and situational awareness, navigation and tracking, are integral parts of 6G usage scenarios. Nevertheless, in many cases localization requires…
Deep learning based localization and mapping has recently attracted significant attention. Instead of creating hand-designed algorithms through exploitation of physical models or geometric theories, deep learning based solutions provide an…
Long-term metric self-localization is an essential capability of autonomous mobile robots, but remains challenging for vision-based systems due to appearance changes caused by lighting, weather, or seasonal variations. While…
For autonomous driving, an essential task is to detect surrounding objects accurately. To this end, most existing systems use optical devices, including cameras and light detection and ranging (LiDAR) sensors, to collect environment data in…
The ever-increasing demand of mobile Internet and multimedia services poses unique and significant challenges for current and future generation wireless networks. These challenges are mainly relating to the support of massive ubiquitous…
Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…
Location management refers to the problem of updating and searching the current location of mobile nodes in a wireless network. To make it efficient, the sum of update costs of location database must be minimized. Previous work relying on…
This paper proposes an indoor visible light communication (VLC) system with multiple transmitters and receivers. Due to diffusivity of LED light beams, photodiode receive signals from many directions. We use one concave and one convex lens…
Place recognition is an important task within autonomous navigation, involving the re-identification of previously visited locations from an initial traverse. Unlike visual place recognition (VPR), LiDAR place recognition (LPR) is tolerant…
To navigate in an environment safely and autonomously, robots must accurately estimate where obstacles are and how they move. Instead of using expensive traditional 3D sensors, we explore the use of a much cheaper, faster, and higher…
This paper examines the use of Wireless Sensor Networks interfaced with light fittings to allow for daylight substitution techniques to reduce energy usage in existing buildings. This creates a wire free system for existing buildings with…
This paper presents a simple and robust method for the automatic localisation of static 3D objects in large-scale urban environments. By exploiting the potential to merge a large volume of noisy but accurately localised 2D image data, we…
In this paper, we propose an efficient algorithm for robust place recognition and loop detection using camera information only. Our pipeline purely relies on spatial localization and semantic information of road markings. The creation of…
Visible light communications (VLC) is a promising technology to address the spectrum crunch problem in radio frequency (RF) networks. A major advantage of VLC networks is that they can use the existing lighting infrastructure in indoor…
A novel approach that combines visible light communication (VLC) with unmanned aerial vehicles (UAVs) to simultaneously provide flexible communication and illumination is proposed. To minimize the power consumption, the locations of UAVs…