相关论文: Going Below and Beyond, Off-the-Grid Velocity Esti…
In this paper, we consider the problem of joint delay-Doppler estimation of moving targets in a passive radar that makes use of orthogonal frequency-division multiplexing (OFDM) communication signals. A compressed sensing algorithm is…
In this work, a method for directly measuring target velocity in three dimensions using a dual axis correlation interferometric radar is presented. Recent advances have shown that the measurement of a target's angular velocity is possible…
Accurate distance estimation from monocular cameras is essential for intelligent monitoring systems. In many deployments, image coordinates are mapped to ground positions using planar homographies initialized by manual selection of…
The problem of estimating the parameters of a moving target in multiple-input multiple-output (MIMO) radar is considered and a new approach for estimating the moving target parameters by making use of the phase information associated with…
Effective tracking of surrounding traffic participants allows for an accurate state estimation as a necessary ingredient for prediction of future behavior and therefore adequate planning of the ego vehicle trajectory. One approach for…
We consider the problem of recovering off-the-grid spikes from linear measurements. The state of the art Over-Parametrized Continuous Orthogonal Matching Pursuit (OP-COMP) with Projected Gradient Descent (PGD) successfully recovers those…
This work explores Doppler information from a millimetre-Wave (mm-W) Frequency-Modulated Continuous-Wave (FMCW) scanning radar to make odometry estimation more robust and accurate. Firstly, doppler information is added to the scan masking…
Radar detects stable, long-range objects under variable weather and lighting conditions, making it a reliable and versatile sensor well suited for ego-motion estimation. In this work, we propose a radar-only odometry pipeline that is highly…
One-bit radar, performing signal sampling and quantization by a one-bit ADC, is a promising technology for many civilian applications due to its low-cost and low-power consumptions. In this paper, problems encountered by one-bit LFMCW radar…
Radars are an ideal complement to cameras: both are inexpensive, solid-state sensors, with cameras offering fine angular resolution, while radars provide metric depth and robustness under adverse weather. However, radar data is more…
Reliable offroad autonomy requires low-latency, high-accuracy state estimates of pose as well as velocity, which remain viable throughout environments with sub-optimal operating conditions for the utilized perception modalities. As state…
Passive radar systems can detect and track the moving targets of interest by exploiting non-cooperative illuminators-of-opportunity to transmit orthogonal frequency division multiplexing (OFDM) signals. These targets are searched using a…
This paper proposes a compressed sensing-based high-resolution direction-of-arrival estimation method called gradient orthogonal matching pursuit (GOMP). It contains two main steps: a sparse coding approximation step using the well-known…
We present a novel 3D odometry method that recovers the full motion of a vehicle only from a Doppler-capable range sensor. It leverages the radial velocities measured from the scene, estimating the sensor's velocity from a single scan. The…
Target detection is an important problem in multiple-input multiple-output (MIMO) radar. Many existing target detection algorithms were proposed without taking into consideration the quantization error caused by analog-to-digital converters…
We consider the estimation of three-dimensional (3D) radar parameters, namely, bearing or angle-of-arrival (AoA), delay or range, and Doppler shift velocity, under a mono-static multiple-input multiple-output (MIMO) joint communications and…
We study the target parameter estimation for sub-Nyquist pulse-Doppler radar. Several past works have addressed this problem but either have low estimation accuracy for off-grid targets, take large computation load, or lack versatility for…
Statistical tracking filters depend on accurate target measurements and uncertainty estimates for good tracking performance. In this work, we propose novel machine learning models for target detection and uncertainty estimation in…
State estimation is a crucial component for the successful implementation of robotic systems, relying on sensors such as cameras, LiDAR, and IMUs. However, in real-world scenarios, the performance of these sensors is degraded by challenging…
This paper tackles the challenge of one-bit off-grid direction of arrival (DOA) estimation in a single snapshot scenario based on a learning-based Bayesian approach. Firstly, we formulate the off-grid DOA estimation model, utilizing the…