相关论文: WiFi-Inertial Indoor Pose Estimation for Micro Aer…

We propose an automatic method for pose and motion estimation against a ground surface for a ground-moving robot-mounted monocular camera. The framework adopts a semi-dense approach that benefits from both a feature-based method and an…

Recently, movable antennas (MAs) have garnered immense attention due to their capability to favorably alter channel conditions through agile movement. In this letter, we delve into a spectrum sharing system enabled by unmanned aerial…

Micro Air Vehicles (MAVs) will unlock their true potential once they can operate in groups. To this end, it is essential for them to estimate on-board the relative location of their neighbors. The challenge lies in limiting the mass and…

In this paper, we argue that modern pre-integration methods for inertial measurement units (IMUs) are accurate enough to ignore the drift for short time intervals. This allows us to consider a simplified camera model, which in turn admits…

In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…

In this paper, we address the challenge of navigating through unknown indoor environments using autonomous aerial robots within confined spaces. The core of our system involves the integration of key sensor technologies, including depth…

The existing localization systems for indoor applications basically rely on wireless signal. With the massive deployment of low-cost cameras, the visual image based localization become attractive as well. However, in the existing…

This article presents a novel framework for performing visual inspection around 3D infrastructures, by establishing a team of fully autonomous Micro Aerial Vehicles (MAVs) with robust localization, planning and perception capabilities. The…

Unmanned aerial vehicles (UAVs) can be used as aerial wireless base stations when cellular networks go down. Prior studies on UAV-based wireless coverage typically consider an Air-to-Ground path loss model, which assumes that the users are…

We present Acoustic Inertial Measurement (AIM), a one-of-a-kind technique for indoor drone localization and tracking. Indoor drone localization and tracking are arguably a crucial, yet unsolved challenge: in GPS-denied environments,…

UAVs have been widely used in visual inspections of buildings, bridges and other structures. In either outdoor autonomous or semi-autonomous flights missions strong GPS signal is vital for UAV to locate its own positions. However, strong…

This paper explores the potential of 5G new radio (NR) Time-of-Arrival (TOA) data for indoor drone localization under different scenarios and conditions when fused with inertial measurement unit (IMU) data. Our approach involves performing…

The remarkable growth of unmanned aerial vehicles (UAVs) has also sparked concerns about safety measures during their missions. To advance towards safer autonomous aerial robots, this work presents a vision-based solution to ensuring safe…

This report proposes a combined optimal control and perception framework for Micro Aerial Vehicle (MAV) autonomous navigation in novel indoor enclosed environments, relying exclusively on on-board sensor data. We use privileged information…

Inertial odometry is an attractive solution to the problem of state estimation for agile quadrotor flight. It is inexpensive, lightweight, and it is not affected by perceptual degradation. However, only relying on the integration of the…

We propose a viewpoint invariant model for 3D human pose estimation from a single depth image. To achieve this, our discriminative model embeds local regions into a learned viewpoint invariant feature space. Formulated as a multi-task…

An indoor localization approach uses Wi-Fi Access Points (APs) to estimate the Direction of Arrival (DoA) of the WiFi signals. This paper demonstrates FIND, a tool for Fine INDoor localization based on a software-defined radio, which…

In this paper, we propose an integrated sensing and communication (ISAC) system enabled by movable antennas (MAs), which can dynamically adjust antenna positions to enhance both sensing and communication performance for future wireless…

The trend towards autonomous driving and the continuous research in the automotive area, like Advanced Driver Assistance Systems (ADAS), requires an accurate localization under all circumstances. An accurate estimation of the vehicle state…

This paper studies an unmanned aerial vehicle (UAV) position and attitude sensing problem, where a base station equipped with an antenna array transmits signals to a predetermined potential flight region of a flying UAV, and exploits the…