Related papers: Channel Knowledge Map-Enabled NLoS ISAC Localizati…
Trajectory planning in unstructured environments is a fundamental and challenging capability for mobile robots. Traditional modular pipelines suffer from latency and cascading errors across perception, localization, mapping, and planning…
Localization of radio frequency sources over multipath channels is a difficult problem arising in applications such as outdoor or indoor gelocation. Common approaches that combine ad-hoc methods for multipath mitigation with indirect…
Channel knowledge map (CKM) is a promising technology to enable environment-aware wireless communications and sensing with greatly enhanced performance, by offering location-specific channel prior information for future wireless networks.…
Accurate localization and perception are pivotal for enhancing the safety and reliability of vehicles. However, current localization methods suffer from reduced accuracy when the line-of-sight (LOS) path is obstructed, or a combination of…
Localization in already mapped environments is a critical component in many robotics and automotive applications, where previously acquired information can be exploited along with sensor fusion to provide robust and accurate localization…
Recent advances in vision-language models have made zero-shot navigation feasible, enabling robots to follow natural language instructions without requiring labeling. However, existing methods that explicitly store language vectors in grid…
Integrated Sensing and Communication (ISAC) technology plays a critical role in future intelligent transportation systems, by enabling vehicles to perceive and reconstruct the surrounding environment through reuse of wireless signals,…
Underwater sensor networks are anticipated to facilitate numerous commercial and military applications. Moreover, precise self-localization in practical underwater scenario is a crucial challenge in sensor networks because of the complexity…
Localization in a battlefield environment is increasingly challenging as GPS connectivity is often denied or unreliable, and physical deployment of anchor nodes across wireless networks for localization can be difficult in hostile…
Data-target association is an important step in multi-target localization for the intelligent operation of un- manned systems in numerous applications such as search and rescue, traffic management and surveillance. The objective of this…
The paper presents a novel Wi-Fi fingerprinting system that uses Channel State Information (CSI) data for fine-grained pedestrian localization. The proposed system exploits the frequency diversity and spatial diversity of the features…
Channel charting is an emerging self-supervised method that maps channel-state information (CSI) to a low-dimensional latent space (the channel chart) that represents pseudo-positions of user equipments (UEs). While channel charts preserve…
Reliable localization is critical for robot navigation, yet most existing systems implicitly assume that all viewing directions at a location are equally informative. In practice, localization becomes unreliable when the robot observes…
We present a novel multi-view training framework and CNN architecture for combining information from multiple overlapping satellite images and noisy training labels derived from OpenStreetMap (OSM) to semantically label buildings and roads…
Road detection from the perspective of moving vehicles is a challenging issue in autonomous driving. Recently, many deep learning methods spring up for this task because they can extract high-level local features to find road regions from…
This paper proposes a soft range limited K nearest neighbours (SRL-KNN) localization fingerprinting algorithm. The conventional KNN determines the neighbours of a user by calculating and ranking the fingerprint distance measured at the…
Deterministic channel modeling maps a physical environment to its site-specific electromagnetic response. Ray tracing produces complete multi-dimensional channel information but remains prohibitively expensive for area-wide deployment. We…
In recent years, prior maps have become a mainstream tool in autonomous navigation. However, commonly available prior maps are still tailored to control-and-decision tasks, and the use of these maps for localization remains largely…
Visual navigation localizes a query place image against a reference database of place images, also known as a `visual map'. Localization accuracy requirements for specific areas of the visual map, `scene classes', vary according to the…
This paper investigates the construction of channel knowledge map (CKM) from sparse channel measurements. Dif ferent from conventional two-/three-dimensional (2D/3D) CKM approaches assuming fixed base station configurations, we present a…