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Carrier phase positioning (CPP) can enable cm-level accuracy in next-generation wireless systems, while recent literature shows that accuracy remains high using phase-only measurements in distributed MIMO (D-MIMO). However, the impact of…
We present a comprehensive framework for fusing measurements from multiple and generally placed accelerometers and gyroscopes to perform inertial navigation. Using the angular acceleration provided by the accelerometer array, we show that…
Synthetic aperture radar (SAR) image change detection is a critical yet challenging task in the field of remote sensing image analysis. The task is non-trivial due to the following challenges: Firstly, intrinsic speckle noise of SAR images…
This study investigates the application of a simultaneous transmitting and reflecting reconfigurable intelligent surface (STAR-RIS)-aided medium-Earth-orbit (MEO) satellite network for providing both global positioning services and…
Satellite-based Synthetic Aperture Radar (SAR) images can be used as a source of remote sensed imagery regardless of cloud cover and day-night cycle. However, the speckle noise and varying image acquisition conditions pose a challenge for…
Along with the improvement of radar technologies, Automatic Target Recognition (ATR) using Synthetic Aperture Radar (SAR) and Inverse SAR (ISAR) has come to be an active research area. SAR/ISAR are radar techniques to generate a…
Global Navigation Satellite Systems enable precise localization and timing even for highly mobile devices, but legacy implementations provide only limited support for the new generation of security-enhanced signals. Inertial Measurement…
Object detection is a core component of perception systems, providing the ego vehicle with information about its surroundings to ensure safe route planning. While cameras and Lidar have significantly advanced perception systems, their…
Delivery robots aim to achieve high precision to facilitate complete autonomy. A precise three-dimensional point cloud map of sidewalk surroundings is required to estimate self-location. With or without the loop closing method, the…
Recent research provides an approximation on the performance for reconfigurable intelligent surface (RIS) assisted systems over generalized fading channels with phase noise resulting from imperfect phase compensation at the RIS. In this…
The integrated inertial system, typically integrating an IMU and an exteroceptive sensor such as radar, LiDAR, and camera, has been widely accepted and applied in modern robotic applications for ego-motion estimation, motion control, or…
Reconfigurable Intelligent Surfaces (RIS) show great promise in the realm of 6th generation (6G) wireless systems, particularly in the areas of localization and communication. Their cost-effectiveness and energy efficiency enable the…
Most intelligent transportation systems use a combination of radar sensors and cameras for robust vehicle perception. The calibration of these heterogeneous sensor types in an automatic fashion during system operation is challenging due to…
We introduce SCAR, a method for long-term auto-calibration refinement of aerial visual-inertial systems that exploits georeferenced satellite imagery as a persistent global reference. SCAR estimates both intrinsic and extrinsic parameters…
Safety and reliability are crucial for the public acceptance of autonomous driving. To ensure accurate and reliable environmental perception, intelligent vehicles must exhibit accuracy and robustness in various environments. Millimeter-wave…
To perform high speed tasks, sensors of autonomous cars have to provide as much information in as few time steps as possible. However, radars, one of the sensor modalities autonomous cars heavily rely on, often only provide sparse, noisy…
Next generation beyond 5G networks are expected to provide both Terabits per second data rate communication services and centimeter-level accuracy localization services in an efficient, seamless and cost-effective manner. However, most of…
Radars, due to their robustness to adverse weather conditions and ability to measure object motions, have served in autonomous driving and intelligent agents for years. However, Radar-based perception suffers from its unintuitive sensing…
IEEE 802.11ad-based integrated sensing and communications (ISAC) have been identified as a potential solution for enabling next-generation intelligent transportation systems in the millimeter wave (mmW) spectrum. The radar functionality…
Sensor fusion has become a popular topic in robotics. However, conventional fusion methods encounter many difficulties, such as data representation differences, sensor variations, and extrinsic calibration. For example, the calibration…