Related papers: Precise Distributed Satellite Navigation: Differen…
The sixth-generation (6G) cellular technology will be deployed with a key feature of Integrated Sensing and Communication (ISAC), allowing the cellular network to map the environment through radar sensing on top of providing communication…
Integrated sensing and communications (ISAC) is a key enabler of new applications, such as precision agriculture, extended reality (XR), and digital twins, for 6G wireless systems. However, the implementation of ISAC technology is very…
In this paper, we study the optimization of the sensing accuracy of unmanned aerial vehicle (UAV)-based dual-baseline interferometric synthetic aperture radar (InSAR) systems. A swarm of three UAV-synthetic aperture radar (SAR) systems is…
Autonomous vehicles (AVs) fuse data from multiple sensors and sensing modalities to impart a measure of robustness when operating in adverse conditions. Radars and cameras are popular choices for use in sensor fusion; although radar…
Interferometric Synthetic Aperture Radar (InSAR) is a powerful tool for monitoring surface deformation with high precision. However, low Signal-to-Noise Ratio (SNR) conditions, common in regions with low backscatter, can degrade phase…
In this paper, we address the challenge of navigating through unknown indoor environments using autonomous aerial robots within confined spaces. The core of our system involves the integration of key sensor technologies, including depth…
For effective autonomous navigation,estimation of the pose of the robot is essential at every sampling time. For computing an accurate estimation,odometric error needs to be reduced with the help of data from external sensor. In this work,…
Autonomous vehicles (AVs) are poised to revolutionize the transportation industry by enhancing traffic efficiency and road safety. However, achieving optimal vehicular autonomy demands an uninterrupted and precise positioning solution,…
Advances in autonomous driving are inseparable from sensor fusion. Heterogeneous sensors are widely used for sensor fusion due to their complementary properties, with radar and camera being the most equipped sensors. Intrinsic and extrinsic…
High-precision positioning accuracy is among the key features of the future fifth-generation (5G-advanced) cellular networks to enable a wide variety of commercial, critical, and consumer use cases. 5G new radio (NR) systems have relied on…
Since most of vehicular radar systems are already exploiting millimeter-wave (mmWave) spectra, it would become much more feasible to implement a joint radar and communication system by extending communication frequencies into the mmWave…
Accurate and reliable sensor calibration is critical for fusing LiDAR and inertial measurements in autonomous driving. This paper proposes a novel three-stage extrinsic calibration method between LiDAR and GNSS/INS for autonomous driving.…
In robotic navigation, maintaining precise pose estimation and navigation in complex and dynamic environments is crucial. However, environmental challenges such as smoke, tunnels, and adverse weather can significantly degrade the…
Radar ensures robust sensing capabilities in adverse weather conditions, yet challenges remain due to its high inherent noise level. Existing radar odometry has overcome these challenges with strategies such as filtering spurious points,…
Robust semantic perception for autonomous vehicles relies on effectively combining multiple sensors with complementary strengths and weaknesses. State-of-the-art sensor fusion approaches to semantic perception often treat sensor data…
Accurate localization is crucial for various applications, including autonomous vehicles and next-generation wireless networks. However, the reliability and precision of Global Navigation Satellite Systems (GNSS), such as the Global…
In this paper we present a novel radar-camera sensor fusion framework for accurate object detection and distance estimation in autonomous driving scenarios. The proposed architecture uses a middle-fusion approach to fuse the radar point…
Global Navigation Satellite Systems (GNSS) aided Inertial Navigation System (INS) is a fundamental approach for attaining continuously available absolute vehicle position and full state estimates at high bandwidth. For transportation…
Many multi-sensor navigation systems urgently demand accurate positioning initialization from global navigation satellite systems (GNSSs) in challenging static scenarios. However, ground blockages against line-of-sight (LOS) signal…
Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…