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Visual localization has become a key enabling component of many place recognition and SLAM systems. Contemporary research has primarily focused on improving accuracy and precision-recall type metrics, with relatively little attention paid…

Millimeter-wave (mmWave) communication is a promising solution for achieving high data rate and low latency in 5G wireless cellular networks. Since directional beamforming and antenna arrays are exploited in the mmWave networks, accurate…

Using millimeter-wave (mmWave) bands is expected to provide high data rates through large licensed and unlicensed spectrum. Due to large path loss and sparse scattering propagation properties, proper beam alignment is important in mmWave…

We propose an approach to estimate the 6DOF pose of a satellite, relative to a canonical pose, from a single image. Such a problem is crucial in many space proximity operations, such as docking, debris removal, and inter-spacecraft…

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…

The millimeter-wave (mmWave) communication technology, which employs large-scale antenna arrays, enables inherent sensing capabilities. Simultaneous localization and mapping (SLAM) can utilize channel multipath angle estimates to realize…

Exploiting the millimeter wave (mmWave) band has recently attracted considerable attention as a potential solution to widespread deployment of device-to-device (D2D) communication challenges, namely, spectrum scarcity and interference.…

Millimeter-wave (mmWave) communication systems rely on narrow beams for achieving sufficient receive signal power. Adjusting these beams is typically associated with large training overhead, which becomes particularly critical for…

Enabling highly-mobile millimeter wave (mmWave) and terahertz (THz) wireless communication applications requires overcoming the critical challenges associated with the large antenna arrays deployed at these systems. In particular, adjusting…

Base station (BS) placement in mobile networks is critical to the efficient use of resources in any communication system and one of the main factors that determines the quality of communication. Although there is ample literature on the…

We present a novel technique to estimate the 6D pose of objects from single images where the 3D geometry of the object is only given approximately and not as a precise 3D model. To achieve this, we employ a dense 2D-to-3D correspondence…

We consider the problem of estimating the 3D orientation of a user, using the downlink mmWave signals received from multiple base stations. We show that the received signals from several base stations, having known positions, can be used to…

The six-dimensional movable antenna (6DMA) is a promising technology to fully exploit spatial variation in wireless channels by allowing flexible adjustment of three-dimensional (3D) positions and rotations of antennas at the transceiver.…

Localization is envisioned as a key enabler to satisfy the requirements of communication and context-aware services in the fifth/sixth generation (5G/6G) communication systems. User localization can be achieved based on delay and angle…

This work considers the three-dimensional (3-D) positioning problem in a Terahertz (THz) system enabled by a modular extra-large (XL) array with sub-connected architecture. Our purpose is to estimate the Cartesian Coordinates of 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…

Directional transmission patterns (a.k.a. narrow beams) are the key to wireless communications in millimeter wave (mmWave) frequency bands which suffer from high path loss and severe shadowing. In addition, the propagation channel in mmWave…

We propose a keypoint-based object-level SLAM framework that can provide globally consistent 6DoF pose estimates for symmetric and asymmetric objects alike. To the best of our knowledge, our system is among the first to utilize the camera…

Millimeter Waves (mmW) and sub-THz frequencies are the candidate bands for the upcoming Sixth Generation (6G) of communication systems. The use of collimated beams at mmW/sub-THz to compensate for the increased path and penetration loss…

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…