相关论文: Cooperative Localization with Angular Measurements…

The Local Position Measurement system (LPM) is one of the most precise systems for 3D position estimation. It is able to operate in- and outdoor and updates at a rate up to 1000 measurements per second. Previous scientific publications…

Automotive self-localization is an essential task for any automated driving function. This means that the vehicle has to reliably know its position and orientation with an accuracy of a few centimeters and degrees, respectively. This paper…

Visible light communication (VLC) systems are promising candidates for future indoor access and peer-to-peer networks. The performance of these systems, however, is vulnerable to the line of sight (LOS) link blockage due to objects inside…

One strategy to obtain user location information in a wireless network operating at millimeter wave (mmWave) is based on the exploitation of the geometric relationships between the channel parameters and the user position. These…

In this work, a system scheme is proposed for tracking a radio emitting target moving in two-dimensional space. The localization is based on the use of biased time-of-arrival (TOA) measurements obtained at two asynchronous receivers, each…

The availability of positional information is of great importance in many commercial, governmental, and military applications. Localization is commonly accomplished through the use of radio communication between mobile devices (agents) and…

This paper presents a novel approach to range-based cooperative localization for robot swarms in GPS-denied environments, addressing the limitations of current methods in noisy and sparse settings. We propose a robust multi-layered…

Fine localization in autonomous driving platforms is a task of broad interest, receiving much attention in recent years. Some localization algorithms use the Euclidean distance as a similarity measure between the local image acquired by a…

We propose a cooperative sensing framework for mmWave ISAC networks in which a target is sensed by its nearest BS while opportunistically exploiting bistatic echoes from neighboring BSs. Cooperation requires no dedicated resources or…

Predicting future trajectories of surrounding traffic agents is critical for safe autonomous navigation and collision avoidance. Despite all advances in the trajectory forecasting realm, the prediction models remains vulnerable to…

This paper studies 3-D distributed network localization using mixed types of local relative measurements. Each node holds a local coordinate frame without a common orientation and can only measure one type of information (relative position,…

Collaborative perception has attracted growing interest from academia and industry due to its potential to enhance perception accuracy, safety, and robustness in autonomous driving through multi-agent information fusion. With the…

Surrounding perceptions are quintessential for safe driving for connected and autonomous vehicles (CAVs), where the Bird's Eye View has been employed to accurately capture spatial relationships among vehicles. However, severe inherent…

Gaussian belief propagation (GaBP) is a technique that relies on linearized error and input-output models to yield low-complexity solutions to complex estimation problems, which has been recently shown to be effective in the design of…

This paper addresses high-resolution vehicle positioning and tracking. In recent work, it was shown that a fleet of independent but neighboring vehicles can cooperate for the task of localization by capitalizing on the existence of common…

Relative localization (RL) is essential for the successful operation of micro air vehicle (MAV) swarms. Achieving accurate 3-D RL in infrastructure-free and GPS-denied environments with only distance information is a challenging problem…

Bluetooth Low Energy systems are one of the most popular solutions used for indoor localization. Unfortunately their accuracy might not be sufficient for some of the applications. One way to reduce localization errors is hybrid positioning,…

Cooperative perception allows a Connected Autonomous Vehicle (CAV) to interact with the other CAVs in the vicinity to enhance perception of surrounding objects to increase safety and reliability. It can compensate for the limitations of the…

Global localization is essential in enabling robot autonomy, and collaborative localization is key for multi-robot systems. In this paper, we address the task of collaborative global localization under computational and communication…

In ultra-dense LEO satellite networks, conventional communication-oriented beam pattern design cannot provide multiple favorable signals from different satellites simultaneously, and thus leads to poor positioning performance. To tackle…