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Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Satellite System (GNSS) measurements, a first attempt of this…
Multi-object tracking (MOT) aims at estimating bounding boxes and identities of objects in videos. Most methods can be roughly classified as tracking-by-detection and joint-detection-association paradigms. Although the latter has elicited…
Multi-object tracking (MOT) in team sports is particularly challenging due to the fast-paced motion and frequent occlusions resulting in motion blur and identity switches, respectively. Predicting player positions in such scenarios is…
This paper addresses the problem of appearance matching across different challenges while doing visual face tracking in real-world scenarios. In this paper, FaceTrack is proposed that utilizes multiple appearance models with its long-term…
The tracking-by-detection paradigm is the mainstream in multi-object tracking, associating tracks to the predictions of an object detector. Although exhibiting uncertainty through a confidence score, these predictions do not capture the…
This paper investigates the multiuser tracking and signal detection problem in integrated sensing and communication (ISAC) systems with the assistance of reconfigurable intelligent surfaces (RISs). Due to the diverse and high user mobility,…
Modern multi-object tracking (MOT) systems usually model the trajectories by associating per-frame detections. However, when camera motion, fast motion, and occlusion challenges occur, it is difficult to ensure long-range tracking or even…
This paper studies the immersion and invariance (I&I) adaptive tracking problem for a class of nonlinear systems with nonlinear parameterization in the ISS framework. Under some mild assumptions, a novel I&I adaptive control algorithm is…
Safety evaluation and red-teaming of large language models remain predominantly text-centric, and existing frameworks lack the infrastructure to systematically test whether alignment generalizes to audio, image, and video inputs. We present…
This work develops a physically consistent model for stacked intelligent metasurfaces (SIM) using multiport network theory and transfer scattering parameters (T-parameters). Unlike the scattering parameters (S-parameters) model, the…
Vehicular communication systems operating in the millimeter wave (mmWave) band are highly susceptible to signal blockage from dynamic obstacles such as vehicles, pedestrians, and infrastructure. To address this challenge, we propose a…
Millimeter-wave (mmWave) hybrid analog-digital beamforming is a promising approach to satisfy the low-latency constraint in multiple unmanned aerial vehicles (UAVs) systems, which serve as network infrastructure for flexible deployment.…
It remains a huge challenge to design effective and efficient trackers under complex scenarios, including occlusions, illumination changes and pose variations. To cope with this problem, a promising solution is to integrate the temporal…
Monocular SLAM historically suffers from scale ambiguity and tracking failure in dynamic environments. While recent vision foundation models (VFMs) provide remarkable zero-shot depth priors, naively integrating these deterministic…
Automotive targets undergoing turns in road junctions offer large synthetic apertures over short dwell times to automotive radars that can be exploited for obtaining fine cross-range resolution. Likewise, the wide bandwidths of the…
Airborne mobile Integrated Sensing and Communication (ISAC) base stations have garnered significant attention recently, with ISAC technology being a crucial application for 6G networks. Since ISAC can sense potential mobile communication…
The plethora of sensors in our commodity devices provides a rich substrate for sensor-fused tracking. Yet, today's solutions are unable to deliver robust and high tracking accuracies across multiple agents in practical, everyday…
Robust and accurate pose estimation is crucial for many applications in mobile robotics. Extending visual Simultaneous Localization and Mapping (SLAM) with other modalities such as an inertial measurement unit (IMU) can boost robustness and…
We consider a hybrid active-passive radar system that employs a wireless source as a passive illuminator of opportunity (IO) and a co-channel active radar transmitter operating in the same frequency band to seek spectral efficiency. The…
We introduce Ground-Fusion, a low-cost sensor fusion simultaneous localization and mapping (SLAM) system for ground vehicles. Our system features efficient initialization, effective sensor anomaly detection and handling, real-time dense…