相关论文: Enabling Plug-and-Play and Crowdsourcing SLAM in W…
When adapting Simultaneous Mapping and Localization (SLAM) to real-world applications, such as autonomous vehicles, drones, and augmented reality devices, its memory footprint and computing cost are the two main factors limiting the…
The integration of cloud computing and edge computing is an effective way to achieve global consistent and real-time multi-robot Simultaneous Localization and Mapping (SLAM). Cloud computing effectively solves the problem of limited…
Monocular vision-based Simultaneous Localization and Mapping (SLAM) is used for various purposes due to its advantages in cost, simple setup, as well as availability in the environments where navigation with satellites is not effective.…
SLAM technology plays a crucial role in indoor mapping and localization. A common challenge in indoor environments is the "double-sided mapping issue", where closely positioned walls, doors, and other surfaces are mistakenly identified as a…
This paper presents a new use case for continuous crowdsourcing, where multiple players collectively control a single character in a video game. Similar approaches have already been proposed, but they suffer from certain limitations: (1)…
Embodied agents require robust navigation systems to operate in unstructured environments, making the robustness of Simultaneous Localization and Mapping (SLAM) models critical to embodied agent autonomy. While real-world datasets are…
Crowdsourcing enables the fine-grained characterization and performance evaluation of today's large-scale networks using the power of the masses and distributed intelligence. This paper presents SmartProbe, a system that assesses the…
Crowdsourcing models applied to work on mobile devices continuously reach new ways of solving sophisticated problems, now with a use of portable advanced devices, where users are not limited to a stationary use. There exists an open problem…
Simultaneous localization and mapping (SLAM) using automotive radar sensors can provide enhanced sensing capabilities for autonomous systems. In SLAM applications, with a greater requirement for the environment map, information on the…
Simultaneous Localization and Mapping (SLAM) is a key tool for monitoring construction sites, where aligning the evolving as-built state with the as-planned design enables early error detection and reduces costly rework. LiDAR-based SLAM…
It is well known that GNSS receivers are vulnerable to jamming and spoofing attacks, and numerous such incidents have been reported in the last decade all over the world. The notion of participatory sensing, or crowdsensing, is that a large…
Networking on white spaces (i.e., locally unused spectrum) relies on active monitoring of spectrum usage. Spectrum databases based on empirical radio propagation models are widely adopted but shown to be error-prone, since they do not…
Crowdsourcing enables application developers to benefit from large and diverse datasets at a low cost. Specifically, mobile crowdsourcing (MCS) leverages users' devices as sensors to perform geo-located data collection. The collection of…
In this paper, we consider the problem of planar graph-based simultaneous localization and mapping (SLAM) that involves both poses of the autonomous agent and positions of observed landmarks. We present CPL-SLAM, an efficient and…
We introduce a distributed, cooperative framework and method for Bayesian estimation and control in decentralized agent networks. Our framework combines joint estimation of time-varying global and local states with information-seeking…
The intrinsic geometric connections between millimeter-wave (mmWave) signals and the propagation environment can be leveraged for simultaneous localization and mapping (SLAM) in 5G and beyond networks. However, estimated channel parameters…
The prosperity of smart mobile devices has made mobile crowdsensing (MCS) a promising paradigm for completing complex sensing and computation tasks. In the past, great efforts have been made on the design of incentive mechanisms and task…
We consider a network of agents that locate themselves in an environment through sensor measurements and aim to transmit a message signal to a base station via collaborative beamforming. The agents' sensor measurements result in…
Simultaneous localization and mapping (SLAM) is used to predict the dynamic motion path of a moving platform based on the location coordinates and the precise mapping of the physical environment. SLAM has great potential in augmented…
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…