Related papers: Unreal is all you need: Multimodal ISAC Data Simul…
In this paper, we propose UniGS, a unified map representation and differentiable framework for high-fidelity multimodal 3D reconstruction based on 3D Gaussian Splatting. Our framework integrates a CUDA-accelerated rasterization pipeline…
The detection of non-cooperative unmanned aerial vehicles (UAVs) presents significant challenges for Integrated Sensing and Communication (ISAC) systems due to the inherent limitations of single-modal perception and the competition for…
The development of computer vision algorithms for Unmanned Aerial Vehicles (UAVs) imagery heavily relies on the availability of annotated high-resolution aerial data. However, the scarcity of large-scale real datasets with pixel-level…
Simulation is an essential tool to develop and benchmark autonomous vehicle planning software in a safe and cost-effective manner. However, realistic simulation requires accurate modeling of nuanced and complex multi-agent interactive…
Unmanned Aerial Vehicles (UAV) have emerged as versatile platforms, driving the demand for accurate modeling to support developmental testing. This paper proposes data-driven modeling software for UAV. Emphasizes the utilization of…
Recent advancements in vision foundation models (VFMs) have revolutionized visual perception in 2D, yet their potential for 3D scene understanding, particularly in autonomous driving applications, remains underexplored. In this paper, we…
We introduce and open-source the Unified Autonomy Stack, a system-level solution that enables resilient autonomy across diverse aerial and ground robot morphologies. The architecture centers on three synergistic modules -- multi-modal…
This paper presents Multimodal-Wireless, a large-scale open-source dataset for multimodal sensing and communication research. The dataset is generated through an integrated and customizable data pipeline built upon the CARLA simulator and…
Research on sixth-generation (6G) integrated sensing and communication (ISAC) increasingly depends on multimodal datasets. These datasets need to jointly characterize wireless propagation, onboard sensing, and platform mobility. Existing…
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…
We present a high-fidelity Mixed Reality sensor emulation framework for testing and evaluating the resilience of Unmanned Aerial Vehicles (UAVs) against false data injection (FDI) attacks. The proposed approach can be utilized to assess the…
Self-driving vehicles (SDVs) require accurate calibration of LiDARs and cameras to fuse sensor data accurately for autonomy. Traditional calibration methods typically leverage fiducials captured in a controlled and structured scene and…
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…
This paper presents a framework for the localization of Unmanned Aerial Vehicles (UAVs) in unstructured environments with the help of deep learning. A real-time rendering engine is introduced that generates optical and depth images given a…
This paper investigates an extremely large-scale reconfigurable intelligent surface (XL-RIS) assisted near-field integrated sensing and communication (ISAC) system, where a multi-antenna base station (BS) simultaneously sends unicast data…
The physics goals of the next Large Hadron Collider run include high precision tests of the Standard Model and searches for new physics. These goals require detailed comparison of data with computational models simulating the expected data…
Integrated sensing and communication (ISAC) exhibits notable potential for sensing the unmanned aerial vehicles (UAVs), facilitating real-time monitoring of UAVs for security insurance. Due to the low sensing accuracy of single base…
For real-world applications, autonomous mobile robotic platforms must be capable of navigating safely in a multitude of different and dynamic environments with accurate and robust localization being a key prerequisite. To support further…
This paper presents OpenREALM, a real-time mapping framework for Unmanned Aerial Vehicles (UAVs). A camera attached to the onboard computer of a moving UAV is utilized to acquire high resolution image mosaics of a targeted area of interest.…
The proliferation of unmanned aerial vehicles (UAVs) has created urgent demand for precise UAV monitoring. Existing RGB-based systems rely on spatial cues that degrade at small scales, particularly with high inter-type similarity,…