相关论文: Extended FastSLAM Using Cellular Multipath Compone…
Radio frequency (RF) signal-based localization using modern cellular networks has emerged as a promising solution to accurately locate objects in challenging environments. One of the most promising solutions for situations involving…
Wireless localization for mobile device has attracted more and more interests by increasing the demand for location based services. Fingerprint-based localization is promising, especially in non-Line-of-Sight (NLoS) or rich scattering…
Sequence-based place recognition methods for all-weather navigation are well-known for producing state-of-the-art results under challenging day-night or summer-winter transitions. These systems, however, rely on complex handcrafted…
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…
Loop closure detection (LCD) is an indispensable part of simultaneous localization and mapping systems (SLAM); it enables robots to produce a consistent map by recognizing previously visited places. When robots operate over extended…
For VSLAM (Visual Simultaneous Localization and Mapping), localization is a challenging task, especially for some challenging situations: textureless frames, motion blur, etc.. To build a robust exploration and localization system in a…
The integration of satellite communication networks with next-generation (NG) technologies is a promising approach towards global connectivity. However, the quality of services is highly dependant on the availability of accurate channel…
Robot navigation technology is required to accomplish difficult tasks in various environments. In navigation, it is necessary to know the information of the external environments and the state of the robot under the environment. On the…
Millimeter Waves (mmW) and sub-THz frequencies are the candidate bands for the upcoming Sixth Generation (6G) of communication systems. The use of collimated beams at mmW/sub-THz to compensate for the increased path and penetration loss…
This paper presents a set of novel scan-matching techniques for vehicle pose estimation using automotive radar measurements. The proposed approach modifies the Normal Distributions Transform (NDT) -- a state-of-the-art scan-matching SLAM…
Simultaneous Localization And Mapping (SLAM) is a fundamental problem in mobile robotics. While sparse point-based SLAM methods provide accurate camera localization, the generated maps lack semantic information. On the other hand, state of…
This paper introduces delay-alignment modulation (DAM) for secure integrated sensing and communication (ISAC). Due to the broadcast nature of multi-user downlinks, communications are vulnerable to eavesdropping. DAM applies controlled…
The capability of multi-robot SLAM approaches to merge localization history and maps from different observers is often challenged by the difficulty in establishing data association. Loop closure detection between perceptual inputs of…
A framework for online simultaneous localization, mapping and self-calibration is presented which can detect and handle significant change in the calibration parameters. Estimates are computed in constant-time by factoring the problem and…
Future lunar missions will require autonomous rovers capable of traversing tens of kilometers across challenging terrain while maintaining accurate localization and producing globally consistent maps. However, the absence of global…
This paper introduces a new approach to localize user devices located in non-line-of-sight (NLOS) areas using a passive, non-reconfigurable, and frequency-selective metasurface called metaprism. By analyzing the spatial filtering of…
Joint communication and sensing (JCS) is envisioned as an enabler of future 6G networks. One of the key features of these networks will be the use of extremely large aperture arrays (ELAAs) and high operating frequencies, which will result…
An integrity-based path planning strategy for autonomous ground vehicle (AGV) navigation in urban environments is developed. The vehicle is assumed to navigate by utilizing cellular long-term evolution (LTE) signals in addition to Global…
A nonlinear channel estimator using complex Least Square Support Vector Machines (LS-SVM) is proposed for pilot-aided OFDM system and applied to Long Term Evolution (LTE) downlink under high mobility conditions. The estimation algorithm…
Millimeter-wave (mmWave) cloud radio access networks (CRANs) provide new opportunities for accurate cooperative localization, in which large bandwidths, large antenna arrays, and increased densities of base stations allow for their…