Related papers: Adaptive Multipath-Based SLAM for Distributed MIMO…
Visual simultaneous localization and mapping (SLAM) plays a critical role in autonomous robotic systems, especially where accurate and reliable measurements are essential for navigation and sensing. In feature-based SLAM, the quantityand…
We consider uplink frugal simultaneous localization and mapping (SLAM) in phase-coherent distributed MIMO (D-MIMO) systems, where a network of spatially separated single-antenna access points (APs) coherently receives narrowband,…
Geometric environment information aids future distributed radio infrastructures in providing services, such as ultra-reliable communication, positioning, and wireless power transfer (WPT). An a priori known environment model cannot always…
In this paper, we study the user localization and tracking problem in the reconfigurable intelligent surface (RIS) aided multiple-input multiple-output (MIMO) system, where a multi-antenna base station (BS) and multiple RISs are deployed to…
This paper proposes a novel multiple intelligent reflecting surfaces (IRSs) collaborative hybrid localization system, which involves deploying multiple IRSs near the target area and achieving target localization through joint time delay and…
Intelligent reflecting surface (IRS) is envisioned as a promising solution for controlling radio propagation environments in future wireless systems. In this paper, we propose a distributed intelligent reflecting surface (IRS) assisted…
In this paper, we present a Bayesian approach for spectral unmixing of multispectral Lidar (MSL) data associated with surface reflection from targeted surfaces composed of several known materials. The problem addressed is the estimation of…
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…
Reconfigurable Intelligent Surfaces (RIS) show great promise in the realm of 6th generation (6G) wireless systems, particularly in the areas of localization and communication. Their cost-effectiveness and energy efficiency enable the…
We present a factor graph formulation and particle-based sum-product algorithm for robust localization and tracking in multipath-prone environments. The proposed sequential algorithm jointly estimates the mobile agent's position together…
Reconfigurable Intelligent Surfaces (RIS) have emerged as a key solution to dynamically adjust wireless propagation by tuning the reflection coefficients of large arrays of passive elements. Reconfigurable Holographic Surfaces (RHS) build…
In this paper, we consider a distributed multiple-input multiple-output (MIMO) radar which radiates waveforms with non-ideal cross- and auto-correlation functions and derive a novel subspace-based procedure to detect and localize multiple…
We propose $S^3$LAM, a novel RGB-D SLAM system that leverages 2D surfel splatting to achieve highly accurate geometric representations for simultaneous tracking and mapping. Unlike existing 3DGS-based SLAM approaches that rely on 3D…
We propose a novel distributed expectation maximization (EM) method for non-cooperative RF device localization using a wireless sensor network. We consider the scenario where few or no sensors receive line-of-sight signals from the target.…
In the next generation of wireless systems, Massive MIMO offers high angular resolution for localization. By virtue of large number of antennas, the Angle of Arrival (AoA) of User Terminals (UTs) can be estimated with high accuracy.…
Simultaneous localisation and mapping (SLAM) play a vital role in autonomous robotics. Robotic platforms are often resource-constrained, and this limitation motivates resource-efficient SLAM implementations. While sparse visual SLAM…
Simultaneous localization and mapping (SLAM) has achieved impressive performance in static environments. However, SLAM in dynamic environments remains an open question. Many methods directly filter out dynamic objects, resulting in…
Reconfigurable intelligent surface (RIS) as a smart reflector is revolutionizing research for next-generation wireless communications. Complementing this is a concept of using RIS as an efficient propagation medium for potentially superior…
This paper addresses vehicle positioning, a topic whose importance has risen dramatically in the context of future autonomous driving systems. While classical methods that use GPS and/or beacon signals from network infrastructure for…
This paper proposes spatial lattice modulation (SLM), a spatial modulation method for multipleinput-multiple-output (MIMO) systems. The key idea of SLM is to jointly exploit spatial, in-phase, and quadrature dimensions to modulate…