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This paper introduces BIMCaP, a novel method to integrate mobile 3D sparse LiDAR data and camera measurements with pre-existing building information models (BIMs), enhancing fast and accurate indoor mapping with affordable sensors. BIMCaP…

This paper presents a neural-enhanced probabilistic model and corresponding factor graph-based sum-product algorithm for robust localization and tracking in multipath-prone environments. The introduced hybrid probabilistic model consists of…

Power grids increasingly need real-time situational awareness under the ever-evolving cyberthreat landscape. Advances in snapshot-based system identification approaches have enabled accurately estimating states and topology from a snapshot…

In this article, we introduce a novel algorithm for efficient near-field synthetic aperture radar (SAR) imaging for irregular scanning geometries. With the emergence of fifth-generation (5G) millimeter-wave (mmWave) devices, near-field SAR…

With the emergence of the low-altitude economy, radio maps have become essential for ensuring reliable wireless connectivity to aerial platforms. Autonomous aerial agents are commonly deployed for data collection using waypoint-based…

Recent trends in SLAM and visual navigation have embraced 3D Gaussians as the preferred scene representation, highlighting the importance of estimating camera poses from a single image using a pre-built Gaussian model. However, existing…

This paper proposes a new detection algorithm for MIMO communication systems employing high order QAM constellations. The factor graph that corresponds to this problem is very loopy; in fact, it is a complete graph. Hence, a straightforward…

Simultaneous localization and mapping (SLAM) are essential in numerous robotics applications, such as autonomous navigation. Traditional SLAM approaches infer the metric state of the robot along with a metric map of the environment. While…

Satellite-based positioning system such as GPS often suffers from large amount of noise that degrades the positioning accuracy dramatically especially in real-time applications. In this work, we consider a data-mining approach to enhance…

This paper introduces MipSLAM, a frequency-aware 3D Gaussian Splatting (3DGS) SLAM framework capable of high-fidelity anti-aliased novel view synthesis and robust pose estimation under varying camera configurations. Existing 3DGS-based SLAM…

We propose a novel compute-in-memory (CIM)-based ultra-low-power framework for probabilistic localization of insect-scale drones. The conventional probabilistic localization approaches rely on the three-dimensional (3D) Gaussian Mixture…

This paper proposes a new framework to regularize the highly ill-posed and non-linear phase retrieval problem through deep generative priors using simple gradient descent algorithm. We experimentally show effectiveness of proposed algorithm…

We present a method for scalable and fully 3D magnetic field simultaneous localisation and mapping (SLAM) using local anomalies in the magnetic field as a source of position information. These anomalies are due to the presence of…

Achieving robust and precise pose estimation in dynamic scenes is a significant research challenge in Visual Simultaneous Localization and Mapping (SLAM). Recent advancements integrating Gaussian Splatting into SLAM systems have proven…

Sensors in high-precision mechatronic systems require accurate calibration, which is achieved using test beds that, in turn, require even more accurate calibration. The aim of this paper is to develop a cascaded calibration method for…

In phase retrieval, the goal is to recover a complex signal from the magnitude of its linear measurements. While many well-known algorithms guarantee deterministic recovery of the unknown signal using i.i.d. random measurement matrices,…

Robust 3D registration is a fundamental problem in computer vision and robotics, where the goal is to estimate the geometric transformation between two sets of measurements in the presence of noise, mismatches, and extreme outlier…

Vision-based pose estimation plays a crucial role in the autonomous navigation of flight platforms. However, the field of view and spatial resolution of the camera limit pose estimation accuracy. This paper designs a divergent…

3D Gaussian splatting (3D-GS) has recently revolutionized novel view synthesis in the simultaneous localization and mapping (SLAM) problem. However, most existing algorithms fail to fully capture the underlying structure, resulting in…

The focus in this paper is Bayesian system identification based on noisy incomplete modal data where we can impose spatially-sparse stiffness changes when updating a structural model. To this end, based on a similar hierarchical sparse…