相关论文: Uncertainty in Position Estimation Using Machine L…
Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in popularity thanks to their robustness to harsh environmental…
Inertial localization is particularly valuable in GPS-denied environments such as indoors. However, localization using only Inertial Measurement Units (IMUs) suffers from drift caused by motion-process noise and sensor biases. This paper…
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…
Measuring customer experience on mobile data is of utmost importance for global mobile operators. The reference signal received power (RSRP) is one of the important indicators for current mobile network management, evaluation and…
Localisation with Frequency-Modulated Continuous-Wave (FMCW) radar has gained increasing interest due to its inherent resistance to challenging environments. However, complex artefacts of the radar measurement process require appropriate…
Global mobile robot localization is the problem of determining a robot's pose in an environment, using sensor data, when the starting position is unknown. A family of probabilistic algorithms known as Monte Carlo Localization (MCL) is…
This study considers the joint location and velocity estimation of UE and scatterers in a three-dimensional mmWave CRAN architecture. Several existing works have achieved satisfactory results with neural networks (NNs) for localization.…
The uncertainty measurement of classifiers' predictions is especially important in applications such as medical diagnoses that need to ensure limited human resources can focus on the most uncertain predictions returned by machine learning…
Transformer-based language models have set new benchmarks across a wide range of NLP tasks, yet reliably estimating the uncertainty of their predictions remains a significant challenge. Existing uncertainty estimation (UE) techniques often…
Neural networks predictions are unreliable when the input sample is out of the training distribution or corrupted by noise. Being able to detect such failures automatically is fundamental to integrate deep learning algorithms into robotics.…
Cardiac resynchronization therapy (CRT) has been established as an important therapy for heart failure. Mechanical dyssynchrony has the potential to predict responders to CRT. The aim of this study was to report the development and the…
Environmental monitoring robots often need to estimate data fields (e.g., salinity, temperature, bathymetry) under tight resource constraints. Classical boustrophedon lawnmower surveys provide geometric coverage guarantees but can waste…
Recent advancements in the capabilities of large language models (LLMs) have paved the way for a myriad of groundbreaking applications in various fields. However, a significant challenge arises as these models often "hallucinate", i.e.,…
The integration of sensing capabilities into 5G New Radio (5G NR) networks offers an opportunity to enable the detection of airborne objects without the need for dedicated radars. This paper investigates the feasibility of using…
Ultra-wideband (UWB) systems are becoming increasingly popular as a means of inter-robot ranging and communication. A major constraint associated with UWB is that only one pair of UWB transceivers can range at a time to avoid interference,…
For decades, the determination of an objects location has been implemented utilizing different technologies. Despite GPS (Global Positioning System) provides a scalable efficient and cost effective location services however the satellite…
Precise robotic grasping is important for many industrial applications, such as assembly and palletizing, where the location of the object needs to be controlled and known. However, achieving precise grasps is challenging due to noise in…
Localization plays a key role for safe operation of UAVs enabling beyond visual line of sight applications. Compared to GPS based localization, cellular networks can reduce the positioning error and cost since cellular connectivity is…
Reliably assessing the error in an estimated vehicle position is integral for ensuring the vehicle's safety in urban environments. Many existing approaches use GNSS measurements to characterize protection levels (PLs) as probabilistic upper…
This paper presents research findings on handling faulty measurements (i.e., outliers) of global navigation satellite systems (GNSS) for vehicle localization under adverse signal conditions in field applications, where raw GNSS data are…