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With the increasing prevalence of drones in various industries, the navigation and tracking of unmanned aerial vehicles (UAVs) in challenging environments, particularly GNSS-denied areas, have become crucial concerns. To address this need,…
Recent advances in neural radiation fields (NeRF) and 3D Gaussian-based SLAM have achieved impressive localization accuracy and high-quality dense mapping in static scenes. However, these methods remain challenged in dynamic environments,…
With the intensiffcation of population aging and increasing burden of chronic diseases, the demand for vital signs monitoring is becoming increasingly urgent. A key challenge facing current non-contact detection technologies using…
Channel Charting is a dimensionality reduction technique that learns to reconstruct a low-dimensional, physically interpretable map of the radio environment by taking advantage of similarity relationships found in high-dimensional channel…
We compare and contrast the effectiveness of a set of adaptive and non-adaptive algorithms for isotope identification based on gamma-ray spectra. One dimensional energy spectra are simulated for a variety of dwell-times and source to…
Advancing research in fields such as Simultaneous Localization and Mapping (SLAM) and autonomous navigation critically depends on the availability of reliable and reproducible multimodal datasets. While several influential datasets have…
Tracking of objects in 3D is a fundamental task in computer vision that finds use in a wide range of applications such as autonomous driving, robotics or augmented reality. Most recent approaches for 3D multi object tracking (MOT) from…
With the rapid increase in mobile subscribers, there is a drive towards achieving higher data rates, prompting the use of higher frequencies in future wireless communication technologies. Wave propagation channel modeling for these…
This paper presents a quasi-deterministic ray tracing (QD-RT) method for analyzing the propagation of electromagnetic waves in street canyons. The method uses a statistical bistatic distribution to model the Radar Cross Section (RCS) of…
This paper examines the performance of decision feedback based iterative channel estimation and multiuser detection in channel coded aperiodic DS-CDMA systems operating over multipath fading channels. First, explicit expressions describing…
Millimeter wave (mmWave) is a practical solution to provide high data rate for vehicle-to-everything (V2X) communications. This enables the future autonomous vehicles to exchange big data with the base stations (BSs) such as the velocity,…
Visibility distance on the road pathway plays a significant role in road safety and in particular, has a clear impact on the choice of speed limits. Visibility distance is thus of importance for road engineers and authorities. While…
5G millimeter wave (mmWave) signals can be used to jointly localize the receiver and map the propagation environment in vehicular networks, which is a typical simultaneous localization and mapping (SLAM) problem. Mapping the environment is…
Dynamic Occupancy Grid Mapping is a technique used to generate a local map of the environment containing both static and dynamic information. Typically, these maps are primarily generated using lidar measurements. However, with improvements…
3D multi-object tracking (MOT) and trajectory forecasting are two critical components in modern 3D perception systems. We hypothesize that it is beneficial to unify both tasks under one framework to learn a shared feature representation of…
Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics, requiring the computation of collision-free paths for multiple agents moving from their respective start to goal positions. Coordinating multiple agents in a shared…
Accurate channel estimation is crucial for the improvement of signal processing performance in wireless communications. However, traditional model-based methods frequently experience difficulties in dynamic environments. Similarly,…
This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid…
Wideband millimeter-wave communication systems can be extended to provide radar-like sensing capabilities on top of data communication, in a cost-effective manner. However, the development of joint communication and sensing technology is…
We propose a lifelong 3D mapping framework that is modular, cloud-native by design and more importantly, works for both hand-held and robot-mounted 3D LiDAR mapping systems. Our proposed framework comprises of dynamic point removal,…