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We present a novel method for visual mapping and localization for autonomous vehicles, by extracting, modeling, and optimizing semantic road elements. Specifically, our method integrates cascaded deep models to detect standardized road…
Accurate detection of large-scale, elliptical-shape fibers, including their parameters of center, orientation and major/minor axes, on the 2D cross-sectioned image slices is very important for characterizing the underlying cylinder 3D…
Accurate and robust vehicle localization in highly urbanized areas is challenging. Sensors are often corrupted in those complicated and large-scale environments. This paper introduces GNSS-FGO, an online and global trajectory estimator that…
As urban populations grow, cities are becoming more complex, driving the deployment of interconnected sensing systems to realize the vision of smart cities. These systems aim to improve safety, mobility, and quality of life through…
Passive human speed estimation plays a critical role in acoustic sensing. Despite extensive study, existing systems, however, suffer from various limitations: First, the channel measurement rate proves inadequate to estimate high moving…
It has been shown that the channel state information (CSI) of a Wi-Fi system can be exploited to localize Wi-Fi devices or track trajectory of a moving target. In the existing literature, both sensing tasks are treated separately and some…
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…
Addressing the communication and sensing demands of sixth-generation (6G) mobile communication system, integrated sensing and communication (ISAC) has garnered traction in academia and industry. With the sensing limitation of single base…
In this paper, we address the problem of controlling a network of mobile sensors so that a set of hidden states are estimated up to a user-specified accuracy. The sensors take measurements and fuse them online using an Information Consensus…
Compared to LiDAR-based localization methods, which provide high accuracy but rely on expensive sensors, visual localization approaches only require a camera and thus are more cost-effective while their accuracy and reliability typically is…
In this paper we present an approach to geometry calibration in wireless acoustic sensor networks, whose nodes are assumed to be equipped with a compact microphone array. The proposed approach solely works with estimates of the distances…
We present a novel system architecture for a distributed wireless, self-calibrating ultrasound microphone network for synchronized in-air acoustic sensing. Once deployed the embedded nodes determine their position in the environment using…
Robust visual localization for urban vehicles remains challenging and unsolved. The limitation of computation efficiency and memory size has made it harder for large-scale applications. Since semantic information serves as a stable and…
Reconfigurable intelligent surfaces (RISs) not only assist communication but also help the localization of user equipment (UE). This study focuses on the indoor localization of UE with a single access point (AP) aided by multiple RISs.…
In the low-altitude wireless networks, the simultaneous sensing data acquisition and sharing (SDAS) through an ISAC signaling strategy becomes a typical application scenario. In this paper, we mainly investigate three primary aspects of the…
This paper presents a novel approach for localising a GPS (Global Positioning System)-denied Unmanned Aerial Vehicle (UAV) with the aid of a GPS-equipped UAV in three-dimensional space. The GPS-equipped UAV makes discrete-time broadcasts of…
Pervasive and mobile sensing is an integral part of smart transport and smart city applications. Vehicle-based mobile sensing, or drive-by sensing (DS), is gaining popularity in both academic research and field practice. The DS paradigm has…
In this paper, we propose a novel symbiotic sensing and communication (SSAC) framework, comprising a base station (BS) and a passive sensing node. In particular, the BS transmits communication waveform to serve vehicle users (VUEs), while…
With the expanding application scope of unmanned aerial vehicles (UAVs), the demand for stable UAV control has significantly increased. However, in complex environments, GPS signals are prone to interference, resulting in ineffective UAV…
The paper discusses the increasing use of hybridized sensor information for GNSS-based localization and navigation, including the use of 3D map-aided GNSS positioning and terrestrial systems based on different geometric measurement…