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Unmanned aerial vehicle (UAV) object detection plays a vital role in applications such as environmental monitoring and urban security. To improve robustness, recent studies have explored multimodal detection by fusing visible (RGB) and…
We propose an image-based cross-view geolocalization method that estimates the global pose of a UAV with the aid of georeferenced satellite imagery. Our method consists of two Siamese neural networks that extract relevant features despite…
We develop a comprehensive framework to characterize and optimize the performance of a unmanned aerial vehicle (UAV)-assisted D2D network, where D2D transmissions underlay cellular transmissions. Different from conventional…
Bird's-eye-view (BEV) representation is crucial for the perception function in autonomous driving tasks. It is difficult to balance the accuracy, efficiency and range of BEV representation. The existing works are restricted to a limited…
The integration of Optical Intelligent Reflective Surfaces (OIRSs) into Visible Light Communication (VLC) systems is gaining momentum as a valid alternative to RF technologies, harnessing the existing lighting infrastructures and the vast…
This paper addresses the problem of autonomous UAV search missions, where a UAV must locate specific Entities of Interest (EOIs) within a time limit, based on brief descriptions in large, hazard-prone environments with keep-out zones. The…
Conventional intensity cameras recover objects in the direct line-of-sight of the camera, whereas occluded scene parts are considered lost in this process. Non-line-of-sight imaging (NLOS) aims at recovering these occluded objects by…
Reliable detection, localization and identification of small drones is essential to promote safe, secure and privacy-respecting operation of Unmanned-Aerial Systems (UAS), or simply, drones. This is an increasingly challenging problem with…
The safe operation of drone swarms beyond visual line of sight requires multiple safeguards to mitigate the risk of collision between drones flying in close-proximity scenarios. Cooperative navigation and flight coordination strategies that…
Propagation in non-line-of-sight (NLOS) conditions is one of the major impairments in ultrawideband (UWB) wireless localization systems based on time-of-arrival (TOA) measurements. In this paper the problem of the joint statistical…
Reconfigurable intelligent surface (RIS)-aided localization systems are increasingly recognized for enhancing accuracy in internet of things (IoT) networks. However, prevailing studies tend to either assume a Gaussian distribution for angle…
Effective indoor positioning is critical for public safety, enabling first responders to locate at-risk individuals accurately during emergency scenarios. However, traditional Global Navigation Satellite Systems (GNSS) often perform poorly…
Landing safely in crowded urban environments remains an essential yet challenging endeavor for Unmanned Aerial Vehicles (UAVs), especially in emergency situations. In this work, we propose a risk-aware approach that harnesses semantic…
We propose an indoor localization algorithm for visible light systems by considering effects of non-line-of-sight (NLOS) propagation. The proposed algorithm, named database assisted nonlinear least squares (DA-NLS), utilizes ideas from both…
LiDAR-based localization serves as a critical component in autonomous systems, yet existing approaches face persistent challenges in balancing repeatability, accuracy, and environmental adaptability. Traditional point cloud registration…
Urban Air Mobility, the scenario where hundreds of manned and Unmanned Aircraft System (UAS) carry out a wide variety of missions (e.g. moving humans and goods within the city), is gaining acceptance as a transportation solution of the…
Accurate mobile device localization is critical for emerging 5G/6G applications such as autonomous vehicles and augmented reality. In this paper, we propose a unified localization method that integrates model-based and machine learning…
While Unmanned Aerial Vehicles (UAVs) are increasingly deployed in several missions, their inability of reliable and consistent autonomous landing poses a major setback for deploying such systems truly autonomously. In this paper we present…
The conventional direction-of-arrival (DoA) estimation approaches only be effective when the line-of-sight (LoS) link exists, while in the case of the non-line-of-sight (NLoS) situation, the spatial angle can not be captured and thus the…
In recent years, Unmanned Aerial Vehicles (UAVs) have been utilized as effective platforms for carrying Wi-Fi Access Points (APs) and cellular Base Stations (BSs), enabling low-cost, agile, and flexible wireless networks with high Quality…