Related papers: Millimeter-wave Radio SLAM: End-to-End Processing …
This paper is concerned with the channel estimation problem in multi-user millimeter wave (mmWave) wireless systems with large antenna arrays. We develop a novel simultaneous-estimation with iterative fountain training (SWIFT) framework, in…
Radio-based vehicular simultaneous localization and mapping (SLAM) aims to localize vehicles while mapping the landmarks in the environment. We propose a sequence of three Poisson multi-Bernoulli mixture (PMBM) based SLAM filters, which…
Perfect alignment in chosen beam sectors at both transmit- and receive-nodes is required for beamforming in mmWave bands. Current 802.11ad WiFi and emerging 5G cellular standards spend up to several milliseconds exploring different sector…
Determining the position and orientation of a sensor vis-a-vis its surrounding, while simultaneously mapping the environment around that sensor or simultaneous localization and mapping is quickly becoming an important advancement in…
Monocular vision-based Simultaneous Localization and Mapping (SLAM) is used for various purposes due to its advantages in cost, simple setup, as well as availability in the environments where navigation with satellites is not effective.…
Millimeter-wave multi-input multi-output (mm-Wave MIMO) systems are one of the candidate schemes for 5G wireless standardization efforts. In this context, the main contributions of this article are three-fold. 1) We describe parallel sets…
Accurate localized wireless channel modeling is a cornerstone of cellular network optimization, enabling reliable prediction of network performance during parameter tuning. Localized statistical channel modeling (LSCM) is the…
Autonomous robots operating in indoor and GPS denied environments can use LiDAR for SLAM instead. However, LiDARs do not perform well in geometrically-degraded environments, due to the challenge of loop closure detection and computational…
Simultaneous localization and mapping (SLAM) is a critical capability for autonomous systems. Traditional SLAM approaches, which often rely on visual or LiDAR sensors, face significant challenges in adverse conditions such as low light or…
Simultaneous Localization and Mapping (SLAM) plays an important role in outdoor and indoor applications ranging from autonomous driving to indoor robotics. Outdoor SLAM has been widely used with the assistance of LiDAR or GPS. For indoor…
Channel estimation is very challenging when the receiver is equipped with a limited number of radio-frequency (RF) chains in beamspace millimeter-wave (mmWave) massive multiple-input and multiple-output systems. To solve this problem, we…
Characterizing self-interference is essential to the design and evaluation of in-band full-duplex communication systems. Until now, little has been understood about this coupling in full-duplex systems operating at millimeter wave (mmWave)…
A key requirement in robotics is the ability to simultaneously self-localize and map a previously unknown environment, relying primarily on onboard sensing and computation. Achieving fully onboard accurate simultaneous localization and…
The Visual Simultaneous Localization and Mapping (V-SLAM) system has seen significant development in recent years, demonstrating high precision in environments with limited dynamic objects. However, their performance significantly…
Visual understanding of 3D environments in real-time, at low power, is a huge computational challenge. Often referred to as SLAM (Simultaneous Localisation and Mapping), it is central to applications spanning domestic and industrial…
Accurate understanding of electromagnetic propagation properties in real environments is necessary for efficient design and deployment of cellular systems. In this paper, we show a method to estimate high-resolution channel parameters with…
In the upcoming sixth generation (6G) of wireless communication systems, reconfigurable intelligent surfaces~(RISs) are regarded as one of the promising technological enablers, which can provide programmable signal propagation. Therefore,…
SLAM (Simultaneous Localization And Mapping) seeks to provide a moving agent with real-time self-localization. To achieve real-time speed, SLAM incrementally propagates position estimates. This makes SLAM fast but also makes it vulnerable…
Achieving high-quality wireless interactive Extended Reality (XR) will require multi-gigabit throughput at extremely low latency. The Millimeter-Wave (mmWave) frequency bands, between 24 and 300GHz, can achieve such extreme performance.…
We provide a comprehensive overview of mathematical models and analytical techniques for millimeter wave (mmWave) cellular systems. The two fundamental physical differences from conventional Sub-6GHz cellular systems are (i) vulnerability…