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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…
Millimeter-wave (mmWave) 5G New Radio (NR) communication systems, with their high-resolution antenna arrays and extensive bandwidth, offer a transformative opportunity for high-throughput data transmission and advanced environmental…
Simultaneous Localization and Mapping (SLAM) enables autonomous robots to navigate and execute their tasks through unknown environments. However, performing SLAM in large environments with a single robot is not efficient, and visual or…
This study explores the use of non-line-of-sight (NLOS) components in millimeter-wave (mmWave) communication systems for joint localization and environment sensing. The radar cross section (RCS) of a reconfigurable intelligent surface (RIS)…
To accomplish task efficiently in a multiple robots system, a problem that has to be addressed is Simultaneous Localization and Mapping (SLAM). LiDAR (Light Detection and Ranging) has been used for many SLAM solutions due to its superb…
Accurate outdoor localization in Non-Line-of-Sight (NLoS) environments remains a critical challenge for wireless communication and sensing systems. Existing methods, including positioning based on the Global Navigation Satellite System…
Precise indoor localization remains a challenging problem for a variety of essential applications. A promising approach to address this problem is to exchange radio signals between mobile agents and static physical anchors (PAs) that bounce…
LiDAR and cameras are frequently used as sensors for simultaneous localization and mapping (SLAM). However, these sensors are prone to failure under low visibility (e.g. smoke) or places with reflective surfaces (e.g. mirrors). On the other…
Simultaneous localization and mapping (SLAM) provides user tracking and environmental mapping capabilities, enabling communication systems to gain situational awareness. Advanced communication networks with ultra-wideband, multiple…
Multipath-based simultaneous localization and mapping (MP-SLAM) is a promising approach in wireless networks for obtaining position information of transmitters and receivers as well as information on the propagation environment. MP-SLAM…
Navigation solutions suitable for cases when both autonomous robot's pose (\textit{i.e}., attitude and position) and its environment are unknown are in great demand. Simultaneous Localization and Mapping (SLAM) fulfills this need by…
A Simultaneous Localization and Mapping (SLAM) system must be robust to support long-term mobile vehicle and robot applications. However, camera and LiDAR based SLAM systems can be fragile when facing challenging illumination or weather…
A novel simultaneous localization and radio mapping (SLARM) framework for communication-aware connected robots in the unknown indoor environment is proposed, where the simultaneous localization and mapping (SLAM) algorithm and the global…
Onboard simultaneous localization and mapping (SLAM) methods are commonly used to provide accurate localization information for autonomous robots. However, the coordinate origin of SLAM estimate often resets for each run. On the other hand,…
In this paper, we study the three-dimensional (3D) simultaneous localization and mapping (SLAM) problem in complex outdoor and indoor environments based only on millimeter-wave (mmWave) wireless communication signals. Firstly, we propose a…
Precise and real-time rail vehicle localization as well as railway environment monitoring is crucial for railroad safety. In this letter, we propose a multi-LiDAR based simultaneous localization and mapping (SLAM) system for railway…
Sensing is an integral part of 6G and beyond systems, providing exceptional environmental perception along with communication. Radio frequency (RF)-based sensing often relies on simplified geometric assumptions (e.g., point scatterers or…
The millimeter-wave (mmWave) communication technology, which employs large-scale antenna arrays, enables inherent sensing capabilities. Simultaneous localization and mapping (SLAM) can utilize channel multipath angle estimates to realize…
This paper focuses on efficient landmark management in radar based simultaneous localization and mapping (SLAM). Landmark management is necessary in order to maintain a consistent map of the estimated landmarks relative to the estimate of…
Multipath-based simultaneous localization and mapping (SLAM) is an emerging paradigm for accurate indoor localization with limited resources. The goal of multipath-based SLAM is to detect and localize radio reflective surfaces to support…