Related papers: Adaptive Multipath-Based SLAM for Distributed MIMO…
Recent work has shown impressive localization performance using only images of ground textures taken with a downward facing monocular camera. This provides a reliable navigation method that is robust to feature sparse environments and…
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…
Simultaneous Localization and Mapping (SLAM) is one of the most essential techniques in many real-world robotic applications. The assumption of static environments is common in most SLAM algorithms, which however, is not the case for most…
Vehicle positioning is considered a key element in autonomous driving systems. While conventional positioning requires the use of GPS and/or beacon signals from network infrastructure for triangulation, they are sensitive to multi-path and…
Reconfigurable intelligent surfaces (RISs) can be densely deployed in the environment to create multi-reflection line-of-sight (LoS) links for signal coverage enhancement. However, conventional reflection-only RISs can only achieve…
Sparse and feature SLAM methods provide robust camera pose estimation. However, they often fail to capture the level of detail required for inspection and scene awareness tasks. Conversely, dense SLAM approaches generate richer scene…
Simultaneous Localization And Mapping (SLAM) is a task to estimate the robot location and to reconstruct the environment based on observation from sensors such as LIght Detection And Ranging (LiDAR) and camera. It is widely used in robotic…
Integrated sensing and communication (ISAC) systems are typically deployed in multipath environments, which is usually deemed as a challenging issue for wireless communications. However, the multipath propagation can also provide extra…
An essential task for a multi-robot system is generating a common understanding of the environment and relative poses between robots. Cooperative tasks can be executed only when a vehicle has knowledge of its own state and the states of the…
This paper surveys the state-of-the-art in the nexus of SLAM and Wireless Communications, attributing the bidirectional impact of each with a focus on visual SLAM (V-SLAM) integration. We provide an overview of key concepts related to…
In this paper, we propose a tightly-coupled SLAM system fused with RGB, Depth, IMU and structured plane information. Traditional sparse points based SLAM systems always maintain a mass of map points to model the environment. Huge number of…
In this paper, an indoor robot navigation system is investigated, where an intelligent reflecting surface (IRS) is employed to enhance the connectivity between the access point (AP) and robotic users. Both single-user and multiple-user…
Radio frequency (RF) signal-based localization using modern cellular networks has emerged as a promising solution to accurately locate objects in challenging environments. One of the most promising solutions for situations involving…
Blending representation learning approaches with simultaneous localization and mapping (SLAM) systems is an open question, because of their highly modular and complex nature. Functionally, SLAM is an operation that transforms raw sensor…
3D gaussian splatting has advanced simultaneous localization and mapping (SLAM) technology by enabling real-time positioning and the construction of high-fidelity maps. However, the uncertainty in gaussian position and initialization…
This paper develops a real-time decentralized metric-semantic SLAM algorithm that enables a heterogeneous robot team to collaboratively construct object-based metric-semantic maps. The proposed framework integrates a data-driven front-end…
Achieving real-time Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian splatting (3DGS) in large-scale real-world environments remains challenging, as existing methods still struggle to jointly achieve low-latency pose…
Reconfigurable Intelligent Surfaces (RISs) are regarded as a key technology for future wireless communications, enabling programmable radio propagation environments. However, the passive reflecting feature of RISs induces notable challenges…
There are many possibilities for how to represent the map in simultaneous localisation and mapping (SLAM). While sparse, keypoint-based SLAM systems have achieved impressive levels of accuracy and robustness, their maps may not be suitable…
In this paper, we use a reconfigurable intelligent surface (RIS) to enhance the radar sensing and communication capabilities of a mmWave dual function radar communication system. To simultaneously localize the target and to serve the user,…