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Integrating sensing functions into future mobile equipment has become an important trend. Realizing different types of sensing and achieving mutual enhancement under the existing communication hardware architecture is a crucial challenge in…
We present a factor graph formulation and particle-based sum-product algorithm for robust localization and tracking in multipath-prone environments. The proposed sequential algorithm jointly estimates the mobile agent's position together…
In many robotics problems, there is a significant gain in collaborative information sharing between multiple robots, for exploration, search and rescue, tracking multiple targets, or mapping large environments. One of the key implicit…
We propose ORBSLAM-Atlas, a system able to handle an unlimited number of disconnected sub-maps, that includes a robust map merging algorithm able to detect sub-maps with common regions and seamlessly fuse them. The outstanding robustness…
Semantic Simultaneous Localization and Mapping (SLAM) is a critical area of research within robotics and computer vision, focusing on the simultaneous localization of robotic systems and associating semantic information to construct the…
Simultaneous Localization and Mapping (SLAM) system typically employ vision-based sensors to observe the surrounding environment. However, the performance of such systems highly depends on the ambient illumination conditions. In scenarios…
In recent decades, visual simultaneous localization and mapping (vSLAM) has gained significant interest in both academia and industry. It estimates camera motion and reconstructs the environment concurrently using visual sensors on a moving…
We investigate joint bistatic positioning (BP) and monostatic sensing (MS) within a multi-input multi-output orthogonal frequency-division system. Based on the derived Cram\'er-Rao Bounds (CRBs), we propose novel beamforming optimization…
Existing Simultaneous Localization and Mapping (SLAM) approaches are limited in their scalability due to growing map size in long-term robot operation. Moreover, processing such maps for localization and planning tasks leads to the…
This paper considers a radio-frequency (RF)-based simultaneous localization and source-seeking (SLASS) problem in multi-robot systems, where multiple robots jointly localize themselves and an RF source using distance-only measurements…
Localization within a known environment is a crucial capability for mobile robots. Simultaneous Localization and Mapping (SLAM) is a prominent solution to this problem. SLAM is a framework that consists of a diverse set of computational…
Accurate and robust simultaneous localization and mapping (SLAM) is crucial for autonomous mobile systems, typically achieved by leveraging the geometric features of the environment. Incorporating semantics provides a richer scene…
This paper proposes a novel approach for Simultaneous Localization and Mapping by fusing natural and artificial landmarks. Most of the SLAM approaches use natural landmarks (such as keypoints). However, they are unstable over time,…
Recently, the multi-modal fusion of RGB, depth, and semantics has shown great potential in dense Simultaneous Localization and Mapping (SLAM). However, a prerequisite for generating consistent semantic maps is the availability of dense,…
Lidar-based simultaneous localization and mapping (SLAM) approaches have obtained considerable success in autonomous robotic systems. This is in part owing to the high-accuracy of robust SLAM algorithms and the emergence of new and…
Traditional approaches to stereo visual SLAM rely on point features to estimate the camera trajectory and build a map of the environment. In low-textured environments, though, it is often difficult to find a sufficient number of reliable…
As 6G research advances, the growing demand leads to the emergence of novel technologies such as integrated sensing and communication (ISAC), new antenna arrays like extremely large MIMO (XL-MIMO) and reconfigurable intelligent surfaces…
Simultaneous localization and mapping (SLAM) is a fundamental task for numerous applications such as autonomous navigation and exploration. Despite many SLAM datasets have been released, current SLAM solutions still struggle to have…
This paper quantifies the benefits and limitations of cooperative communications by providing a statistical analysis of the downlink in network multiple-input multiple-output (MIMO) systems. We consider an idealized model where the…
In the upcoming sixth generation (6G) of wireless communication systems, reconfigurable intelligent surfaces~(RISs) are regarded as one of the promising technological enablers, which can provide programmable signal propagation. Therefore,…