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Integrated sensing and communication (ISAC) promises high spectral and power efficiencies by sharing waveforms, spectrum, and hardware across sensing and data links. Yet commercial cellular networks struggle to deliver fine angular, range,…

In this paper, we use a reconfigurable intelligent surface (RIS) to enhance the radar sensing and communication capabilities of a mmWave dual function radar communication system. To simultaneously localize the target and to serve the user,…

A novel Integrated Sensing-Communication (ISAC) system is proposed that can accommodate high mobility scenarios while making efficient use of bandwidth for both communication and sensing. The system comprises a monostatic multiple-input…

Integrated sensing and communication (ISAC) system has been envisioned as a promising technology to be applied in future applications requiring both communication and high-accuracy sensing. Different from most research focusing on…

This paper presents a robust 6-DOF relative navigation by combining the iterative closet point (ICP) registration algorithm and a noise-adaptive Kalman filter (AKF) in a closed-loop configuration together with measurements from a laser…

Depth estimation is one of the key technologies in some fields such as autonomous driving and robot navigation. However, the traditional method of using a single sensor is inevitably limited by the performance of the sensor. Therefore, a…

Robust, high-precision global localization is fundamental to a wide range of outdoor robotics applications. Conventional fusion methods use low-accuracy pseudorange based GNSS measurements ($>>5m$ errors) and can only yield a coarse…

This paper introduces a generic filter-based state estimation framework that supports two state-decoupling strategies based on cross-covariance factorization. These strategies reduce the computational complexity and inherently support true…

Ambiguity performance is a critical criterion in radar sensor design, which indicates the ambiguities arising from multiple target estimation and detection. We considered a requirement-driven selection of OFDM reference signal (RS) patterns…

Integrated sensing and communication (ISAC) is a promising technology to fully utilize the precious spectrum and hardware in wireless systems, which has attracted significant attentions recently. This paper studies ISAC for the important…

"This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible." Driver's interaction with a vehicle via automatic gesture recognition is…

We present a robust and precise localization system that achieves centimeter-level localization accuracy in disparate city scenes. Our system adaptively uses information from complementary sensors such as GNSS, LiDAR, and IMU to achieve…

Motivated by the goal of achieving robust, drift-free pose estimation in long-term autonomous navigation, in this work we propose a methodology to fuse global positional information with visual and inertial measurements in a tightly-coupled…

State estimation is a crucial component for the successful implementation of robotic systems, relying on sensors such as cameras, LiDAR, and IMUs. However, in real-world scenarios, the performance of these sensors is degraded by challenging…

Navigation of a mobile robot is conditioned on the knowledge of its pose. In observer-based localisation configurations its initial pose may not be knowable in advance, leading to the need of its estimation. Solutions to the problem of…

Integrated sensing and communication (ISAC) has opened up numerous game-changing opportunities for realizing future wireless systems. In this paper, we propose an ISAC processing framework relying on millimeter-wave (mmWave) massive…

In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…

This paper illustrates the potential of an Integrated Sensing and Communication (ISAC) system, operating in the sub-6 GHz frequency range, for Synthetic Aperture Radar (SAR) imaging via an Unmanned Aerial Vehicle (UAV) employed as an aerial…

While automotive radar sensors are widely adopted and have been used for automatic cruise control and collision avoidance tasks, their application outside of vehicles is still limited. As they have the ability to resolve multiple targets in…

The combination of data from multiple sensors, also known as sensor fusion or data fusion, is a key aspect in the design of autonomous robots. In particular, algorithms able to accommodate sensor fusion techniques enable increased accuracy,…