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Distance estimation is vital for localization and many other applications in wireless sensor networks (WSNs). Particularly, it is desirable to implement distance estimation as well as localization without using specific hardware in low-cost…
Radar sensors have become an important part of the perception sensor suite due to their long range and their ability to work in adverse weather conditions. However, several shortcomings such as large amounts of noise and extreme sparsity of…
In this work a method for using accelerometers for the determination of angular velocity and acceleration is presented. Minimum sensor requirements and insights into how an array of accelerometers can be configured to maximize estimator…
Given a network of $N$ static nodes in $D$-dimensional space and the pairwise distances between them, the challenge of estimating the coordinates of the nodes is a well-studied problem. However, for numerous application domains, the nodes…
We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization. We use two fixed-lag smoothers (FLS) to decouple accurate…
Real-time estimation of vehicle locations and speeds is crucial for developing many beneficial transportation applications in traffic management and control, e.g., adaptive signal control. Recent advances in communication technologies…
The authors recently proposed a MIMO radar system that is implemented by a small wireless network. By applying compressive sensing (CS) at the receive nodes, the MIMO radar super-resolution can be achieved with far fewer observations than…
Range-only (RO) localization involves determining the position of a mobile robot by measuring the distance to specific anchors. RO localization is challenging since the measurements are low-dimensional and a single range sensor does not…
Today vehicles are becoming a rich source of data as they are equipped with localization or tracking and with wireless communications technologies. With the increasing interest in automated- or self- driving technologies, vehicles are also…
Video processing solutions for motion analysis are key tasks in many computer vision applications, ranging from human activity recognition to object detection. In particular, speed estimation algorithms may be relevant in contexts such as…
The novel concept of near-field velocity sensing is proposed. In contrast to far-field velocity sensing, near-field velocity sensing enables the simultaneous estimation of both radial and transverse velocities of a moving target. A…
A central aspect of every pulsed radar signal processor is the targets Range-Doppler estimation within a Coherent Processing Interval. Conventional methods typically rely on simplifying assumptions, such as linear target motion, narrowband…
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…
Range-only (RO) pose estimation involves determining a robot's pose over time by measuring the distance between multiple devices on the robot, known as tags, and devices installed in the environment, known as anchors. The nonconvex nature…
By using directional distance sensors that have unknown locations, this paper proposes a method of estimating the shape of a location-unknown target object $T$ moving with unknown speed on an unknown straight line trajectory. Regardless of…
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…
This work investigates the problem of tangential velocity estimation in automotive radar systems, addressing the limitations of conventionally considered models. Conventional automotive radars are usually based on far-field models and…
Attitude determination is a popular application of Global Navigation Satellite Systems (GNSS). Many methods have been developed to solve the attitude determination problem with different performance offerings. We develop a constrained…
We present Autonomous Rssi based RElative poSitioning and Tracking (ARREST), a new robotic sensing system for tracking and following a moving, RF-emitting object, which we refer to as the Leader, solely based on signal strength information.…
Motion planning under uncertainty is one of the main challenges in developing autonomous driving vehicles. In this work, we focus on the uncertainty in sensing and perception, resulted from a limited field of view, occlusions, and sensing…