Related papers: Certifiably Optimal Doppler Positioning using Oppo…
Massive multiple-input multiple-output low-Earth-orbit communication channels are highly time-varying due to severe Doppler shifts and propagation delays. While satellite-mobility-induced Doppler shifts can be compensated using known…
Emerging wireless applications are requiring ever more accurate location-positioning from sensor measurements. In this paper, we develop sensor selection strategies for 3D wireless positioning based on time of arrival (TOA) and received…
Mutual localization is essential for coordination and cooperation in multi-robot systems. Previous works have tackled this problem by assuming available correspondences between measurements and received odometry estimations, which are…
Low earth orbit (LEO) satellite navigation signal can be used as an opportunity signal in case of a Global navigation satellite system (GNSS) outage, or as an enhancement means of traditional GNSS positioning algorithms. No matter which…
A recent set of techniques in the robotics community, known as certifiably correct methods, frames robotics problems as polynomial optimization problems (POPs) and applies convex, semidefinite programming (SDP) relaxations to either find or…
Low Earth orbit (LEO) satellites are being considered for expanding legacy terrestrial cellular networks. The end users may not be able to optimize satellite orbits and constellations, however, they can optimize locations of ground stations…
Localization is a fundamental enabler technology for many applications, like vehicular networks, IoT, and even medicine. While Global Navigation Satellite Systems solutions offer great performance, they are unavailable in scenarios like…
Accurate and low-latency positioning is a key enabler for optical links with Low Earth Orbit (LEO) satellites, where millisecond-level beam alignment is required to maintain reliable high-data-rate communication. This paper presents a…
Estimating the 6-DoF pose of a camera from a single image relative to a pre-computed 3D point-set is an important task for many computer vision applications. Perspective-n-Point (PnP) solvers are routinely used for camera pose estimation,…
The emergence of Low Earth Orbit (LEO) satellite constellations dedicated to positioning applications holds the promise of improving the capabilities of existing Global Navigation Satellite Systems (GNSS). However, the absence of…
Global navigation satellite system (GNSS) positioning is widely used for urban navigation, but the covariance reported by the GNSS solver is often unreliable in urban canyons. Existing differentiable factor graph optimization (DFGO) methods…
Localization of a wireless mobile device or a robot in indoor and GPS-denied environments is a difficult problem, particularly in dynamic scenarios where traditional cameras and LIDAR-based alternative sensing and localization modalities…
This paper presents DLL, a fast direct map-based localization technique using 3D LIDAR for its application to aerial robots. DLL implements a point cloud to map registration based on non-linear optimization of the distance of the points and…
The SPS-LASSO has recently been introduced as a solution to the problem of regularization parameter selection in the complex-valued LASSO problem. Still, the dependence on the grid size and the polynomial time of performing convex…
In complex environments, low-cost and robust localization is a challenging problem. For example, in a GPSdenied environment, LiDAR can provide accurate position information, but the cost is high. In general, visual SLAM based localization…
In a time-of-arrival (TOA) or pseudorange based positioning system, user location is obtained by observing multiple anchor nodes (AN) at known positions. Utilizing more than one positioning systems, e.g., combining Global Positioning System…
Image retrieval-based cross-view localization methods often lead to very coarse camera pose estimation, due to the limited sampling density of the database satellite images. In this paper, we propose a method to increase the accuracy of a…
This paper presents a solution to the problem of optimal ground station selection for low-Earth orbiting (LEO) space missions that enables mission operators to precisely design their ground segment performance and costs. Space mission…
With the rapid expansion of low Earth orbit (LEO) constellations, thousands of satellites are now in operation, many equipped with onboard GNSS receivers capable of continuous orbit determination and time synchronization. This development…
Realizing relative localization by leveraging inter-robot local measurements is a challenging problem, especially in the presence of measurement noise. Motivated by this challenge, in this paper we propose a novel and systematic 3-D…