Related papers: Comparing Differentiable and Dynamic Ray Tracing: …
The ray-tracing is often employed in urban areas for channel modeling with high accuracy but encounters a substantial computational complexity for high mobility scenarios. In this paper, we propose a novel pre-processing method for dynamic…
High-resolution radar sensors are able to resolve multiple detections per object and therefore provide valuable information for vehicle environment perception. For instance, multiple detections allow to infer the size of an object or to…
Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…
We report the development of a new ray-tracing simulation tool having the potential of the full characterization of a radio link through the accurate study of the propagation path of the signal from the transmitting to the receiving…
Ultrasound imaging tasks such as calibration, inverse parameter estimation, and acquisition design require models that are physically grounded, efficient, and differentiable with respect to meaningful material and system parameters. While…
The accurate modeling of indoor radio propagation is crucial for localization, monitoring, and device coordination, yet remains a formidable challenge, due to the complex nature of indoor environments where radio can propagate along…
Millimeter wave (mmWave) sensing is an emerging technology with applications in 3D object characterization and environment mapping. However, realizing precise 3D reconstruction from sparse mmWave signals remains challenging. Existing…
This paper deals with propagation and channel modeling for physically large arrays. The focus lies on acquiring a spatially consistent model, which is essential, especially for positioning and sensing applications. Ultra-wideband, synthetic…
Accurate perception of objects in the environment is important for improving the scene understanding capability of SLAM systems. In robotic and augmented reality applications, object maps with semantic and metric information show attractive…
In the fifth-generation communication system (5G), multipath-assisted positioning (MAP) has emerged as a promising approach. With the enhancement of signal resolution, multipath component (MPC) are no longer regarded as noise but rather as…
Recent differentiable rendering techniques have become key tools to tackle many inverse problems in graphics and vision. Existing models, however, assume steady-state light transport, i.e., infinite speed of light. While this is a safe…
In this paper, a deterministic channel model for vehicle-to-vehicle (V2V) communication, is compared against channel measurement data collected during a V2V channel measurement campaign using a channel sounder. Channel metrics such as…
Previous attempts to integrate Neural Radiance Fields (NeRF) into the Simultaneous Localization and Mapping (SLAM) framework either rely on the assumption of static scenes or require the ground truth camera poses, which impedes their…
5G applications have become increasingly popular in recent years as the spread of fifth-generation (5G) network deployment has grown. For vehicular networks, mmWave band signals have been well studied and used for communication and sensing.…
This paper presents an innovative method that can be used to produce deterministic channel models for 5G industrial internet-of-things (IIoT) scenarios. Ray-tracing (RT) channel emulation can capture many of the specific properties of a…
Radio maps find numerous applications in wireless communications and mobile robotics tasks, including resource allocation, interference coordination, and mission planning. Although numerous techniques have been proposed to construct radio…
The past few years have witnessed a remarkable rise in interest in driver-less cars; and naturally, in parallel, the demand for an accurate and reliable object localization and mapping system is higher than ever. Such a system would have to…
This paper introduces a methodology to calibrate Radio-Frequency Digital Twins (RF-DTs) for Integrated Sensing and Communication (ISAC) in dynamic wireless environments. The approach leverages high-resolution ray tracing in combination with…
The design of accurate Digital Twins (DTs) of electromagnetic environments strictly depends on the fidelity of the underlying environmental modeling. Evaluating the differences among diverse levels of modeling accuracy is key to determine…
The development process of high-fidelity SLAM systems depends on their validation upon reliable datasets. Towards this goal, we propose IBISCape, a simulated benchmark that includes data synchronization and acquisition APIs for telemetry…