相关论文: Extended FastSLAM Using Cellular Multipath Compone…

The computation of positioning, navigation and timing (PNT) via signal of opportunity (SOP), where signals originally transmitted for communication, such as 5G, Wi-Fi, or DVB-S, are exploited due to their ubiquity and spectral…

As autonomous systems increasingly rely on onboard sensing for localization and perception, the parallel tasks of motion planning and state estimation become more strongly coupled. This coupling is well-captured by augmenting the planning…

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…

The global navigation satellite systems (GNSS) play a vital role in transport systems for accurate and consistent vehicle localization. However, GNSS observations can be distorted due to multipath effects and non-line-of-sight (NLOS)…

Perceptual aliasing is one of the main causes of failure for Simultaneous Localization and Mapping (SLAM) systems operating in the wild. Perceptual aliasing is the phenomenon where different places generate a similar visual (or, in general,…

Visual understanding of 3D environments in real-time, at low power, is a huge computational challenge. Often referred to as SLAM (Simultaneous Localisation and Mapping), it is central to applications spanning domestic and industrial…

A neural network (NN)-based approach for indoor localization via cellular long-term evolution (LTE) signals is proposed. The approach estimates, from the channel impulse response (CIR), the range between an LTE eNodeB and a receiver. A…

This paper proposes a novel positioning technique suitable for use in mobile robots in urban environments in which large global navigation satellite system (GNSS) positioning errors occur because of multipath signals. During GNSS…

Accurate camera pose estimation result is essential for visual SLAM (VSLAM). This paper presents a novel pose correction method to improve the accuracy of the VSLAM system. Firstly, the relationship between the camera pose estimation error…

In this paper, we study the three-dimensional (3D) simultaneous localization and mapping (SLAM) problem in complex outdoor and indoor environments based only on millimeter-wave (mmWave) wireless communication signals. Firstly, we propose a…

Event cameras, featuring high temporal resolution and high dynamic range, offer visual sensing capabilities comparable to conventional image sensors while capturing fast-moving objects and handling scenes with extreme lighting contrasts…

Thermal cameras offer strong potential for robot perception under challenging illumination and weather conditions. However, thermal Simultaneous Localization and Mapping (SLAM) remains difficult due to unreliable feature extraction,…

Indoor localisation techniques suffer from attenuated Global Navigation Satellite System (GNSS) signals and from the accumulation of unbounded drift by integration of proprioceptive sensors. Magnetic field-based Simultaneous Localisation…

In this work, the uplink channel estimation problem is considered for a millimeter wave (mmWave) multi-input multi-output (MIMO) system. It is well known that pilot overhead and computation complexity in estimating the channel increases…

Robots operating in the open world encounter various different environments that can substantially differ from each other. This domain gap also poses a challenge for Simultaneous Localization and Mapping (SLAM) being one of the fundamental…

In recent decades, visual simultaneous localization and mapping (vSLAM) has gained significant interest in both academia and industry. It estimates camera motion and reconstructs the environment concurrently using visual sensors on a moving…

Building large-scale, globally consistent maps is a challenging problem, made more difficult in environments with limited access, sparse features, or when using data collected by novice users. For such scenarios, where state-of-the-art…

Localization is an important required task for enabling vehicle autonomy for underwater vehicles. Localization entails the determination of position of the center of mass and orientation of a vehicle from the available measurements. In this…

In this paper, we introduce a new uplink visible light indoor positioning system that estimates the position of the users in the network-side of a visible light communications (VLC) system. This technique takes advantage of the diffuse…

Although direct position estimation (DPE) has been demonstrated to offer enhanced robustness in GNSS receivers, its theoretical limits and performance in OFDM based positioning systems remain largely unexplored. In this paper, the…