相关论文: Cooperative Localization with Angular Measurements…

Radio localization and sensing are anticipated to play a crucial role in enhancing radio resource management in future networks. In this work, we focus on millimeter-wave communications, which are highly vulnerable to blockages, leading to…

In applications such as seismic acquisition, the position information of sensor nodes, that are deployed in a linear topology, is desired with sub-meter accuracy in the presence of a limited number of anchor nodes. This can be achieved with…

Accurate vehicle localization is a critical challenge in urban environments where GPS signals are often unreliable. This paper presents a cooperative multi-sensor and multi-modal localization approach to address this issue by fusing data…

Accurate vehicle localization is a crucial step towards building effective Vehicle-to-Vehicle networks and automotive applications. Yet standard grade GPS data, such as that provided by mobile phones, is often noisy and exhibits significant…

Vehicle positioning is considered a key element in autonomous driving systems. While conventional positioning requires the use of GPS and/or beacon signals from network infrastructure for triangulation, they are sensitive to multi-path and…

Cooperative overtaking is believed to have the capability of improving road safety and traffic efficiency by means of the real-time information exchange between traffic participants, including road infrastructures, nearby vehicles and…

Accurate pose estimation is a fundamental ability that all mobile robots must posses in order to traverse robustly in a given environment. Much like a human, this ability is dependent on the robot's understanding of a given scene. For…

Collaborative localization is an essential capability for a team of robots such as connected vehicles to collaboratively estimate object locations from multiple perspectives with reliant cooperation. To enable collaborative localization,…

Recently, millimeter-wave (mmWave) 5G localization has been shown to be to provide centimeter-level accuracy, lending itself to many location-aware applications, e.g., connected autonomous vehicles (CAVs). One assumption usually made in the…

Research on lane change prediction has gained attention in the last few years. Most existing works in this area have been conducted in simulation environments or with pre-recorded datasets, these works often rely on simplified assumptions…

Recently, we have been witnesses of accidents involving autonomous vehicles and their lack of sufficient information. One way to tackle this issue is to benefit from the perception of different view points, namely cooperative perception. We…

In this paper, a 2-stage robust distributed algorithm is proposed for cooperative sensor network localization using time of arrival (TOA) data without identification of non-line of sight (NLOS) links. In the first stage, to overcome the…

Connected vehicles will change the modes of future transportation management and organization, especially at an intersection without traffic light. Centralized coordination methods globally coordinate vehicles approaching the intersection…

Offline map matching involves aligning historical trajectories of mobile objects, which may have positional errors, with digital maps. This is essential for applications in intelligent transportation systems (ITS), such as route analysis…

Cooperative driving using connectivity services has been a promising avenue for autonomous vehicles, with the low latency and further reliability support provided by 5th Generation Mobile Network (5G). In this paper, we present an…

A critical requirement for automated driving systems is enabling situational awareness in dynamically changing environments. To that end vehicles will be equipped with diverse sensors, e.g., LIDAR, cameras, mmWave radar, etc. Unfortunately…

We proposed a fusion mechanism for the distributed cooperative map matching (CMM) within the vehicular ad-hoc network. This mechanism makes the information from each node reachable within the network by other nodes without direct…

The accurate and low-cost localization of sensors using a wireless sensor network is critically required in a wide range of today's applications. We propose a novel, robust maximum likelihood-type method for distributed cooperative received…

Absolute positioning of vehicles is based on Global Navigation Satellite Systems (GNSS) combined with on-board sensors and high-resolution maps. In Cooperative Intelligent Transportation Systems (C-ITS), the positioning performance can be…

Sensor-based perception on vehicles are becoming prevalent and important to enhance the road safety. Autonomous driving systems use cameras, LiDAR, and radar to detect surrounding objects, while human-driven vehicles use them to assist the…