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Cooperative multi-monostatic sensing enables accurate positioning of passive targets by combining the sensed environment of multiple base stations (BS). In this work, we propose a novel fusion algorithm that optimally finds the weight to…
This paper studies a coordinate alignment problem for cooperative mobile sensor network localization with range-based measurements. The network consists of target nodes, each of which has only access position information in a local fixed…
The synergy between extremely large-scale antenna arrays and terahertz technology in sixth-generation networks establishes a near-field wideband transmission environment, enabling the generation of highly focused beams. To leverage this…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
In autonomous driving, camera-radar fusion offers complementary sensing and low deployment cost. Existing methods perform fusion through input mixing, feature map mixing, or query-based feature sampling. We propose a new fusion paradigm,…
To track the 3D locations and trajectories of the other traffic participants at any given time, modern autonomous vehicles are equipped with multiple cameras that cover the vehicle's full surroundings. Yet, camera-based 3D object tracking…
Constructing precise global maps is a key task in robotics and is required for localization, surveying, monitoring, or constructing digital twins. To build accurate maps, data from mobile 3D LiDAR sensors is often used. Mapping requires…
When adapting Simultaneous Mapping and Localization (SLAM) to real-world applications, such as autonomous vehicles, drones, and augmented reality devices, its memory footprint and computing cost are the two main factors limiting the…
In data assimilation, the model may be subject to uncertainties and errors. The weak-constraint data assimilation framework enables incorporating model uncertainty in the dynamics of the governing equations. We propose a new framework for…
This paper deals with a bilevel approach of the location-allocation problem with dimensional facilities. We present a general model that allows us to consider very general shapes of domains for the dimensional facilities and we prove the…
This article describes a multi-modal method using simulated Lidar data via ray tracing and image pixel loss with differentiable rendering to optimize an object's position with respect to an observer or some referential objects in a computer…
Classification and localization of driving actions over time is important for advanced driver-assistance systems and naturalistic driving studies. Temporal localization is challenging because it requires robustness, reliability, and…
Bias estimation or sensor registration is an essential step in ensuring the accuracy of global tracks in multisensor-multitarget tracking. Most previously proposed algorithms for bias estimation rely on local measurements in centralized…
Recent advances in mapping techniques have enabled the creation of highly accurate dense 3D maps during robotic missions, such as point clouds, meshes, or NeRF-based representations. These developments present new opportunities for reusing…
The uncertainty quantification of sensor measurements coupled with deep learning networks is crucial for many robotics systems, especially for safety-critical applications such as self-driving cars. This paper develops an uncertainty…
Since it is usually difficult to capture an all-in-focus image of a 3D scene directly, various multi-focus image fusion methods are employed to generate it from several images focusing at different depths. However, the performance of…
Visual SLAM is a cornerstone technique in robotics, autonomous driving and extended reality (XR), yet classical systems often struggle with low-texture environments, scale ambiguity, and degraded performance under challenging visual…
Sound source localization (SSL) is a critical technology for determining the position of sound sources in complex environments. However, existing methods face challenges such as high computational costs and precise calibration requirements,…
In this paper, we consider an unmanned aerial vehicle (UAV) enabled relaying system where multiple UAVs are deployed as aerial relays to support simultaneous communications from a set of source nodes to their destination nodes on the…