相关论文: Cooperative mmWave PHD-SLAM with Moving Scatterers

5G millimeter wave (mmWave) signals can be used to jointly localize the receiver and map the propagation environment in vehicular networks, which is a typical simultaneous localization and mapping (SLAM) problem. Mapping the environment is…

We present a simultaneous localization and mapping (SLAM) algorithm that is based on radio signals and the association of specular multipath components (MPCs) with geometric features. Especially in indoor scenarios, robust localization from…

Due to 5G millimeter wave (mmWave), spatial channel parameters are becoming highly resolvable, enabling accurate vehicle localization and mapping. We propose a novel method of radio simultaneous localization and mapping (SLAM) with the…

Sharing perceptual data with other vehicles enhances the traffic safety of autonomous vehicles because it helps vehicles locate other vehicles and pedestrians in their blind spots. Such safety applications require high throughput and short…

Future cellular networks that utilize millimeter wave signals provide new opportunities in positioning and situational awareness. Large bandwidths combined with large antenna arrays provide unparalleled delay and angle resolution, allowing…

Networks in 5G and beyond utilize millimeter wave (mmWave) radio signals, large bandwidths, and large antenna arrays, which bring opportunities in jointly localizing the user equipment and mapping the propagation environment, termed as…

In this paper, a robust RGB-D SLAM system is proposed to utilize the structural information in indoor scenes, allowing for accurate tracking and efficient dense mapping on a CPU. Prior works have used the Manhattan World (MW) assumption to…

In this work, we present a framework analysis of millimeter waves (mmWaves) vehicular communications systems. Communications between vehicles take place through a cooperative relay which acts as an intermediary base station (BS). The relay…

Persistent scatterer interferometry and Synthetic Aperture Radar (SAR) Tomography are powerful tools for the detection and time monitoring of persistent scatterers. They have been proven to be effective in urban scenarios, especially for…

Due to severe signal attenuation at millimeter-wave (mmWave) frequencies large antenna arrays are required at both base station and user equipment to achieve necessary beamfoming gain and compensate for the signal power loss. The initial…

Simultaneous Localization and Mapping (SLAM) is a process of concurrent estimation of the vehicle's pose and feature locations with respect to a frame of reference. This paper proposes a computationally cheap geometric nonlinear SLAM filter…

In multimodal traffic monitoring, we gather traffic statistics for distinct transportation modes, such as pedestrians, cars and bicycles, in order to analyze and improve people's daily mobility in terms of safety and convenience. On account…

This paper proposes a novel visual simultaneous localization and mapping (SLAM) system called Hybrid Depth-augmented Panoramic Visual SLAM (HDPV-SLAM), that employs a panoramic camera and a tilted multi-beam LiDAR scanner to generate…

Multi-target tracking is an important problem in civilian and military applications. This paper investigates multi-target tracking in distributed sensor networks. Data association, which arises particularly in multi-object scenarios, can be…

As driving becomes more automated, vehicles are being equipped with more sensors generating even higher data rates. Radars (RAdio Detection and Ranging) are used for object detection, visual cameras as virtual mirrors, and LIDARs (LIght…

Device localization and radar-like mapping are at the heart of integrated sensing and communication, enabling not only new services and applications, but can also improve communication quality with reduced overheads. These forms of sensing…

Precise indoor localization remains a challenging problem for a variety of essential applications. A promising approach to address this problem is to exchange radio signals between mobile agents and static physical anchors (PAs) that bounce…

The majority of approaches for acquiring dense 3D environment maps with RGB-D cameras assumes static environments or rejects moving objects as outliers. The representation and tracking of moving objects, however, has significant potential…

We propose a particle-based distributed PHD filter for tracking an unknown, time-varying number of targets. To reduce communication, the local PHD filters at neighboring sensors communicate Gaussian mixture (GM) parameters. In contrast to…

Prevalent solutions for Connected and Autonomous vehicle (CAV) mapping include high definition map (HD map) or real-time Simultaneous Localization and Mapping (SLAM). Both methods only rely on vehicle itself (onboard sensors or embedded…