Related papers: Robust Localization in Modern Cellular Networks us…
Beamforming (BF) is essential for enhancing system capacity in fifth generation (5G) and beyond wireless networks, yet exhaustive beam training in ultra-massive multiple-input multiple-output (MIMO) systems incurs substantial overhead. To…
The real-world deployment of fully autonomous mobile robots depends on a robust SLAM (Simultaneous Localization and Mapping) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing…
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.…
Future cellular networks that utilize millimeter wave signals provide new opportunities in positioning and situational awareness. Large bandwidths combined with large antenna arrays provide unparalleled delay and angle resolution, allowing…
Radio maps are essential for enhancing wireless communications and localization. However, existing methods for constructing radio maps typically require costly calibration processes to collect location-labeled channel state information…
For reliable operation on urban roads, navigation using the Global Navigation Satellite System (GNSS) requires both accurately estimating the positioning detail from GNSS pseudorange measurements and determining when the estimated position…
Positioning problem can be solved with several approaches in 5G. This paper introduces RT (Ray Tracing) technique for small-cell Outdoor positioning and tracking for systems with distributed architecture with multipath processing gain.…
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…
For VSLAM (Visual Simultaneous Localization and Mapping), localization is a challenging task, especially for some challenging situations: textureless frames, motion blur, etc.. To build a robust exploration and localization system in a…
Matrix factorization (MF) can extract the low-rank features and integrate the information of the data manifold distribution from high-dimensional data, which can consider the nonlinear neighbourhood information. Thus, MF has drawn wide…
Next-generation wireless networks will see the convergence of communication and sensing, also exploiting the availability of large bandwidths in the Terahertz (THz) spectrum and electrically large antenna arrays on handheld devices. In…
The current optimization approaches of construction machinery are mainly based on internal sensors. However, the decision of a reasonable strategy is not only determined by its intrinsic signals, but also very strongly by environmental…
Simultaneous localization and mapping (SLAM) is the task of building a map representation of an unknown environment while at the same time using it for positioning. A probabilistic interpretation of the SLAM task allows for incorporating…
5G-based mmWave wireless positioning has emerged as a promising solution for autonomous vehicle (AV) positioning in recent years. Previous studies have highlighted the benefits of fusing a line-of-sight (LoS) 5G positioning solution with an…
High-precision cellular-based localization is one of the key technologies for next-generation communication systems. In this paper, we investigate the potential of applying machine learning (ML) to a massive multiple-input multiple-output…
We present SLAIM - Simultaneous Localization and Implicit Mapping. We propose a novel coarse-to-fine tracking model tailored for Neural Radiance Field SLAM (NeRF-SLAM) to achieve state-of-the-art tracking performance. Notably, existing…
Simultaneous Localization and Mapping (SLAM) plays an important role in outdoor and indoor applications ranging from autonomous driving to indoor robotics. Outdoor SLAM has been widely used with the assistance of LiDAR or GPS. For indoor…
This paper proposes a radio simultaneous location and mapping (radio-SLAM) scheme based on sparse multipath channel estimation. By leveraging sparse channel estimation schemes at millimeter wave bands, namely high resolution estimates of…
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…
Simultaneous localisation and mapping (SLAM) is the problem of autonomous robots to construct or update a map of an undetermined unstructured environment while simultaneously estimate the pose in it. The current trend towards self-driving…