Related papers: Millimeter-wave Radio SLAM: End-to-End Processing …
Millimeter-wave (mmWave) technology is increasingly recognized as a pivotal technology of the sixth-generation communication networks due to the large amounts of available spectrum at high frequencies. However, the huge overhead associated…
Perceiving and mapping the surroundings are essential for enabling autonomous navigation in any robotic platform. The algorithm class that enables accurate mapping while correcting the odometry errors present in most robotics systems is…
This paper proposes a novel active Simultaneous Localization and Mapping (SLAM) method with continuous trajectory optimization over a stochastic robot dynamics model. The problem is formalized as a stochastic optimal control over the…
Millimeter-wave (mmWave) networks offer the potential for high-speed data transfer and precise localization, leveraging large antenna arrays and extensive bandwidths. However, these networks are challenged by significant path loss and…
Advancing research in fields such as Simultaneous Localization and Mapping (SLAM) and autonomous navigation critically depends on the availability of reliable and reproducible multimodal datasets. While several influential datasets have…
Millimeter wave (mmWave) spectrum has drawn attention due to its tremendous available bandwidth. The high propagation losses in the mmWave bands necessitate beamforming with a large number of antennas. Traditionally each antenna is paired…
The acute disparity between increasing bandwidth demand and available spectrum, has brought millimeter wave (mmW) bands to the forefront of candidate solutions for the next-generation cellular networks. Highly directional transmissions are…
Prior works have explored multi-armed bandit (MAB) algorithms for the selection of optimal beams for millimeter-wave (mmW) communications between base station and mobile users. However, when the number of beams is large, the existing MAB…
The millimeter wave (mmWave) frequencies offer the potential for enormous capacity wireless links. However, designing robust communication systems at these frequencies requires that we understand the channel dynamics over both time and…
Simultaneous Localization and Mapping (SLAM) systems are fundamental building blocks for any autonomous robot navigating in unknown environments. The SLAM implementation heavily depends on the sensor modality employed on the mobile…
This paper solves the classical problem of simultaneous localization and mapping (SLAM) in a fashion which avoids linearized approximations altogether. Based on creating virtual synthetic measurements, the algorithm uses a linear time-…
In the beyond fifth-generation (B5G) and upcoming sixth-generation (6G) wireless communication systems, millimeter (mmWave) wave technology is a promising solution for offering additional bandwidth resources and mitigating spectrum…
Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress…
We proposed an end-to-end deep learning-based simultaneous localization and mapping (SLAM) system following conventional visual odometry (VO) pipelines. The proposed method completes the SLAM framework by including tracking, mapping, and…
Modern 3D laser-range scanners have a high data rate, making online simultaneous localization and mapping (SLAM) computationally challenging. Recursive state estimation techniques are efficient but commit to a state estimate immediately…
Recently, the millimeter wave (mmWave) bands have been investigated as a means to support the foreseen extreme data rate demands of next-generation cellular networks (5G). However, in order to overcome the severe isotropic path loss and the…
This paper presents Range-SLAM, a real-time, lightweight SLAM system designed to address the challenges of localization and mapping in environments with smoke and other harsh conditions using Ultra-Wideband (UWB) signals. While optical…
Maintaining reliable millimeter wave (mmWave) connections to many fast-moving mobiles is a key challenge in the theory and practice of 5G systems. In this paper, we develop a new algorithm that can jointly track the beam direction and…
We present a novel Simultaneous Localization and Mapping (SLAM) method that employs Gaussian Process (GP) based landmark (object) representations. Instead of conventional grid maps or point cloud registration, we model the environment on a…
Millimeter wave (mmWave) cell-free MIMO achieves an extremely high rate while its beam alignment (BA) suffers from excessive overhead due to a large number of transceivers. Recently, user location and probing measurements are utilized for…