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Channel charting builds a map of the radio environment in an unsupervised way. The obtained chart locations can be seen as low-dimensional compressed versions of channel state information that can be used for a wide variety of applications,…
Device localization and radar-like mapping are at the heart of integrated sensing and communication, enabling not only new services and applications, but can also improve communication quality with reduced overheads. These forms of sensing…
Mobile mapping, in particular, Mobile Lidar Scanning (MLS) is increasingly widespread to monitor and map urban scenes at city scale with unprecedented resolution and accuracy. The resulting point cloud sampling of the scene geometry can be…
Determining the number of embeddings of Laman graph frameworks is an open problem which corresponds to understanding the solutions of the resulting systems of equations. In this paper we investigate the bounds which can be obtained from the…
Millimeter-wave (mmWave) and terahertz (THz) communications require beamforming to acquire adequate receive signal-to-noise ratio (SNR). To find the optimal beam, current beam management solutions perform beam training over a large number…
In this paper, we address the challenging problem of data association for underwater SLAM through a novel method for sonar image correspondence using learned features. We introduce SONIC (SONar Image Correspondence), a pose-supervised…
Underwater object-level mapping requires incorporating visual foundation models to handle the uncommon and often previously unseen object classes encountered in marine scenarios. In this work, a metric of semantic uncertainty for open-set…
The determination of accurate bathymetric information is a key element for near offshore activities, hydrological studies such as coastal engineering applications, sedimentary processes, hydrographic surveying as well as archaeological…
Near surface seafloor properties are needed for recreational, commercial, and military applications. Construction projects on the ocean seafloors often require extensive knowledge about strength, deformability, hydraulic, thermal, acoustic,…
We present a multiscale approach for identifying features in ocean beds by solving inverse problems in high frequency seafloor acoustics. The setting is based on Sound Navigation And Ranging (SONAR) imaging used in scientific, commercial,…
Beam prediction is an effective approach to reduce training overhead in massive multiple-input multiple-output (MIMO) systems. However, existing beam prediction models still exhibit limited generalization ability in diverse scenarios, which…
Graph matching aims to establish correspondences between vertices of graphs such that both the node and edge attributes agree. Various learning-based methods were recently proposed for finding correspondences between image key points based…
Optical wireless communication is a promising technology for underwater broadband access networks, which are particularly important for high-resolution environmental monitoring applications. This paper focuses on a deep sea monitoring…
Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…
This paper presents a novel approach to underwater terrain mapping for Autonomous Underwater Vehicles (AUVs) operating in close proximity to complex 3D environments. The proposed methodology creates a probabilistic elevation map of the…
Communications using frequency bands in the millimeter-wave range can play a key role in future generations of mobile networks. By allowing large bandwidth allocations, high carrier frequencies will provide high data rates to support the…
The exploration of large-scale unknown environments can benefit from the deployment of multiple robots for collaborative mapping. Each robot explores a section of the environment and communicates onboard pose estimates and maps to a central…
Compared to the current wireless communication systems, millimeter wave (mm-Wave) promises a wide range of spectrum. As viable alternatives to existing mm-Wave channel models, various map-based channel models with different modeling methods…
Marine vehicles have been used for various scientific missions where information over features of interest is collected. In order to maximise efficiency in collecting information over a large search space, we should be able to deploy a…
Millimeter-wave massive multiple-input multiple-output systems employ highly directional beamforming to overcome severe path loss, and their performance critically depends on accurate beam alignment. Conventional codebook-based methods…