Related papers: Optimization-Based Outlier Accommodation for Tight…
Visual-Inertial odometry (VIO) is known to suffer from drifting especially over long-term runs. In this paper, we present GVINS, a non-linear optimization based system that tightly fuses GNSS raw measurements with visual and inertial…
In urban transportation environments, drivers often encounter various path (route) options when navigating to their destinations. This emphasizes the importance of navigational recommendation systems (NRS), which simplify decision-making…
Driving safety and responsibility determination are indispensable pieces of the puzzle for autonomous driving. They are also deeply related to the allocation of right-of-way and the determination of accident liability. Therefore,…
Within the context of massive machine-type communications+, reconfigurable intelligent surfaces (RISs) represent a promising technology to boost system performance in scenarios with poor channel conditions. Considering single-antenna…
Accurate information about the location and orientation of a camera in mobile devices is central to the utilization of location-based services (LBS). Most of such mobile devices rely on GPS data but this data is subject to inaccuracy due to…
We propose a 6D Bayesian-based localization framework to estimate the position and rotation angles of a mobile station (MS) within an indoor reconfigurable intelligent surface (RIS)-aided system. This framework relies on a probabilistic…
Predicting the safety of urban roads for navigation via global navigation satellite systems (GNSS) signals is considered. To ensure safe driving of automated vehicles, the vehicle must plan its trajectory to avoid navigating on unsafe roads…
In this paper, we propose a novel network architecture for integrating terrestrial and non-terrestrial networks (NTNs) to establish connection between terrestrial ground stations which are unconnected due to blockage. We propose a new…
High-precision vehicle positioning is key to the implementation of modern driving systems in urban environments. Global Navigation Satellite System (GNSS) carrier phase measurements can provide millimeter- to centimeter-level positioning,…
Navigation in unknown, chaotic environments continues to present a significant challenge for the robotics community. Lighting changes, self-similar textures, motion blur, and moving objects are all considerable stumbling blocks for…
Map based visual inertial localization is a crucial step to reduce the drift in state estimation of mobile robots. The underlying problem for localization is to estimate the pose from a set of 3D-2D feature correspondences, of which the…
The interest in mobile platforms across a variety of applications has increased significantly in recent years. One of the reasons is the ability to achieve accurate navigation by using low-cost sensors. To this end, inertial sensors are…
Filter-based visual inertial navigation system (VINS) has attracted mobile-robot researchers for the good balance between accuracy and efficiency, but its limited mapping quality hampers long-term high-accuracy state estimation. To this…
Location-based service (LBS) applications proliferate and support transportation, entertainment, and more. Modern mobile platforms, with smartphones being a prominent example, rely on terrestrial and satellite infrastructures (e.g., global…
Robust navigation in urban environments has received a considerable amount of both academic and commercial interest over recent years. This is primarily due to large commercial organizations such as Google and Uber stepping into the…
Jamming devices disrupt signals from the global navigation satellite system (GNSS) and pose a significant threat by compromising the reliability of accurate positioning. Consequently, the detection and localization of these interference…
Global Navigation Satellite Systems (GNSS) are widely used to provide position, velocity, and timing (PVT) information for various applications, including transportation, location-based communication services, and intelligent agriculture.…
Efficient computation offloading in multi-UAV edge networks becomes particularly challenging in dense urban areas, where line-of-sight (LoS) links are frequently blocked and user demand varies rapidly. Reconfigurable intelligent surfaces…
In the context of single-base station (BS) non-line-of-sight (NLoS) single-epoch localization with the aid of a reflective reconfigurable intelligent surface (RIS), this paper introduces a novel three-step algorithm that jointly estimates…
Inertial navigation systems (INS) are widely used in both manned and autonomous platforms. One of the most critical tasks prior to their operation is to accurately determine their initial alignment while stationary, as it forms the…