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The ability to estimate 3D movements of users over edge computing-enabled networks, such as 5G/6G networks, is a key enabler for the new era of extended reality (XR) and Metaverse applications. Recent advancements in deep learning have…
Inertial measurement unit (IMU) and odometer have been commonly-used sensors for autonomous land navigation in the global positioning system (GPS)-denied scenarios. This paper systematically proposes a versatile strategy for self-contained…
This article focuses on feature-based underwater localization and navigation for autonomous underwater vehicles (AUVs) using 2D imaging sonar measurements. The sparsity of underwater acoustic features and the loss of elevation angle in…
For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…
In reconfigurable intelligent surface (RIS) aided millimeter-wave (mmWave) communication systems, in order to overcome the limitation of the conventional channel state information (CSI) acquisition techniques, this paper proposes a location…
This paper presents a direct 3D visual servo scheme for the automatic alignment of point clouds (respectively, objects) using visual information in the spectral domain. Specifically, we propose an alignment method for 3D models/point clouds…
In this letter, we propose an airborne maneuverable bi-static integrated sensing and communication system where both the transmitter and receiver are unmanned aerial vehicles. By timely forming a dynamic bi-static range based on the motion…
One of the common algorithms used to reconstruct photoacoustic (PA) images is the non-adaptive Delay-and-Sum (DAS) beamformer. However, the quality of the reconstructed PA images obtained by DAS is not satisfying due to its high level of…
Traveltime tomography is a very effective tool to reconstruct acoustic, seismic or electromagnetic wave speed distribution. To infer the velocity image of the medium from the measurements of first arrivals is a typical example of ill-posed…
Millimeter-scale implants using ultrasound for power and communication have been proposed for a range of deep-tissue applications, including neural recording and stimulation. However, published implementations have shown high sensitivity to…
Underwater environments pose significant challenges for visual Simultaneous Localization and Mapping (SLAM) systems due to limited visibility, inadequate illumination, and sporadic loss of structural features in images. Addressing these…
Recent advancements in sensor technology and deep learning have led to significant progress in 3D human body reconstruction. However, most existing approaches rely on data from a specific sensor, which can be unreliable due to the inherent…
In this paper, we propose a novel dynamic calibration method for sparse inertial motion capture systems, which is the first to break the restrictive absolute static assumption in IMU calibration, i.e., the coordinate drift RG'G and…
In complex environments, low-cost and robust localization is a challenging problem. For example, in a GPSdenied environment, LiDAR can provide accurate position information, but the cost is high. In general, visual SLAM based localization…
Positional estimation is of great importance in the public safety sector. Emergency responders such as fire fighters, medical rescue teams, and the police will all benefit from a resilient positioning system to deliver safe and effective…
This paper presents a spectral domain registration-based visual servoing scheme that works on 3D point clouds. Specifically, we propose a 3D model/point cloud alignment method, which works by finding a global transformation between…
In recent years, multiple Light Detection and Ranging (LiDAR) systems have grown in popularity due to their enhanced accuracy and stability from the increased field of view (FOV). However, integrating multiple LiDARs can be challenging,…
We propose an approach to assess the synchronization of rigidly mounted sensors based on their rotational motion. Using function similarity measures combined with a sliding window approach, our approach is capable of estimating time-varying…
This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement Unit (IMU) providing body-frame measurements of the angular…
Leveraging wearable devices for motion reconstruction has emerged as an economical and viable technique. Certain methodologies employ sparse Inertial Measurement Units (IMUs) on the human body and harness data-driven strategies to model…