Related papers: Precise Distributed Satellite Navigation: Differen…

High-precision vehicle positioning is key to the implementation of modern driving systems in urban environments. Global Navigation Satellite System (GNSS) carrier phase measurements can provide millimeter- to centimeter-level positioning,…

This paper presents the full requirements analysis, design, development, and testing of high-precision navigation flight software for Distributed Space Systems (DSS) using Carrier Phase Differential GNSS (CDGNSS). Five main contributions…

Recently, the progress in the radar sensing technology consisting in the miniaturization of the packages and increase in measuring precision has drawn the interest of the robotics research community. Indeed, a crucial task enabling autonomy…

This arXiv upload is to clarify that the now well-known sorted QR MIMO decoder was first presented in the 1995 IUGG General Assembly. We clearly go much further in the sense that we directly incorporated reduction into this one step,…

The integration of sensing and communication (ISAC) has significant potential for future wireless systems, enabling efficient spectrum utilization and novel application scenarios. In this paper, we propose a cooperative ISAC framework for…

Automotive targets undergoing turns in road junctions offer large synthetic apertures over short dwell times to automotive radars that can be exploited for obtaining fine cross-range resolution. Likewise, the wide bandwidths of the…

Aided inertial navigation system (INS), typically consisting of an inertial measurement unit (IMU) and an exteroceptive sensor, has been widely accepted as a feasible solution for navigation. Compared with vision-aided and LiDAR-aided INS,…

Accurate and robust relative pose estimation is crucial for enabling challenging Active Debris Removal (ADR) missions targeting tumbling derelict satellites such as ESA's ENVISAT. This work presents a complete pipeline integrating advanced…

Accurate depth estimation is crucial for many fields, including robotics, navigation, and medical imaging. However, conventional depth sensors often produce low-resolution (LR) depth maps, making detailed scene perception challenging. To…

Distributed integrated sensing and communication (D-ISAC) enables multiple spatially distributed nodes to cooperatively perform sensing and communication. However, achieving coherent cooperation across distributed nodes is challenging due…

A vehicular pose estimation technique is presented that tightly couples multi-antenna carrier-phase differential GNSS (CDGNSS) with a low-cost MEMS inertial sensor and vehicle dynamics constraints. This work is the first to explore the use…

Global Positioning System (GPS) navigation provides accurate positioning with global coverage, making it a reliable option in open areas with unobstructed sky views. However, signal degradation may occur in indoor spaces and urban canyons.…

Integrated sensing and communication (ISAC) is a promising technology to simultaneously provide high-performance wireless communication and radar sensing services in future networks. In this paper, we propose the concept of \emph{integrated…

In Inverse Synthetic Aperture Radar (ISAR), random missing entries of the received radar echo matrix deteriorate the imaging quality, compromising target distinction from the background. Compressive sensing techniques or matrix completion…

In this research, a novel robust change detection approach is presented for imbalanced multi-temporal synthetic aperture radar (SAR) image based on deep learning. Our main contribution is to develop a novel method for generating difference…

Accurate localization is a core component of a robot's navigation system. To this end, global navigation satellite systems (GNSS) can provide absolute measurements outdoors and, therefore, eliminate long-term drift. However, fusing GNSS…

We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization. We use two fixed-lag smoothers (FLS) to decouple accurate…

While LiDAR and cameras are becoming ubiquitous for unmanned aerial vehicles (UAVs) but can be ineffective in challenging environments, 4D millimeter-wave (MMW) radars that can provide robust 3D ranging and Doppler velocity measurements are…

The following paper introduces a novel integrated sensing and communication (ISAC) scenario termed hybrid radar fusion. In this setting, the dual-functional radar and communications (DFRC) base station (BS) acts as a mono-static radar in…

Sensor fusion of a MEMS IMU with a magnetometer is a popular system design, because such 9-DoF (degrees of freedom) systems are capable of achieving drift-free 3D orientation tracking. However, these systems are often vulnerable to ambient…