Related papers: Multi-Sensor Fusion for Extended Object Tracking E…
Recently, the pinching antenna system (PASS) has attracted considerable attention due to their advantages in flexible deployment and reduction of signal propagation loss. In this work, a multiple waveguide PASS assisted integrated sensing…
(Abridged) Quantitative three-dimensional (3D) position and velocity estimates obtained by passive radar will assist the Galileo Project in the detection and classification of aerial objects by providing critical measurements of range,…
Seamless situational awareness provided by modern radar systems relies on effective methods for multiobject tracking (MOT). This paper presents a graph-based Bayesian method for nonlinear and high-dimensional MOT problems that embeds…
Enabling passive sensing of the environment using cellular base stations (BSs) will be one of the disruptive features of the sixth-generation (6G) networks. However, accurate localization and positioning of objects are challenging to…
With the upcoming multitude of commercial and public applications envisioned in the mobile 6G radio landscape using unmanned aerial vehicles (UAVs), integrated sensing and communication (ISAC) plays a key role to enable the detection and…
Localization is an essential technique in mobile robotics. In a complex environment, it is necessary to fuse different localization modules to obtain more robust results, in which the error model plays a paramount role. However,…
A reliable, real time multi-sensor fusion functionality is crucial for localization of actively controlled capsule endoscopy robots, which are an emerging, minimally invasive diagnostic and therapeutic technology for the gastrointestinal…
LiDAR Inertial Odometry (LIO) is a critical component for many mobile robots that need to navigate without relying on external positioning (e.g., GPS). Platforms that operate autonomously in different environments and with heterogeneous…
Precise indoor localization remains a challenging problem for a variety of essential applications. A promising approach to address this problem is to exchange radio signals between mobile agents and static physical anchors (PAs) that bounce…
Recently, the progress in the radar sensing technology consisting in the miniaturization of the packages and increase in measuring precision has drawn the interest of the robotics research community. Indeed, a crucial task enabling autonomy…
Angle of arrival (AOA) is widely used to locate a wireless signal emitter in unmanned aerial vehicle (UAV) localization. Compared with received signal strength (RSS) and time of arrival (TOA), it has higher accuracy and is not sensitive to…
Accurate localization and perception are pivotal for enhancing the safety and reliability of vehicles. However, current localization methods suffer from reduced accuracy when the line-of-sight (LOS) path is obstructed, or a combination of…
Autonomous radar has been an integral part of advanced driver assistance systems due to its robustness to adverse weather and various lighting conditions. Conventional automotive radars use digital signal processing (DSP) algorithms to…
When performing visual servoing or object tracking tasks, active sensor planning is essential to keep targets in sight or to relocate them when missing. In particular, when dealing with a known target missing from the sensor's field of…
Simultaneous state estimation and mapping is an essential capability for mobile robots working in dynamic urban environment. The majority of existing SLAM solutions heavily rely on a primarily static assumption. However, due to the presence…
Integrated sensing and communication (ISAC) qualifies mobile radio systems for detecting and localizing of passive objects by means of radar sensing. Advanced ISAC networks rely on meshed mobile radio access nodes (infrastructure and/or…
This work considers the problem of passively monitoring multiple moving targets with a single unmanned aerial vehicle (UAV) agent equipped with a direction-finding radar. This is in general a challenging problem due to the unobservability…
Multipath-based simultaneous localization and mapping (SLAM) is a promising approach to obtain position information of transmitters and receivers as well as information regarding the propagation environments in future mobile communication…
In this paper, we address active users detection (AUD) in near-field Internet of Things (IoT) networks by exploring prior knowledge of users' locations. We consider a scenario where users are distributed in a semi-circular area within the…
Object pose tracking is a fundamental and essential task for robotics to perform tasks in the home and industrial settings. The most commonly used sensors to do so are RGB-D cameras, which can hit limitations in highly dynamic environments…