相关论文: Extended FastSLAM Using Cellular Multipath Compone…
Simultaneous localization and mapping (SLAM) remains challenging for a number of downstream applications, such as visual robot navigation, because of rapid turns, featureless walls, and poor camera quality. We introduce the Differentiable…
Spatial-temporal prediction is a critical problem for intelligent transportation, which is helpful for tasks such as traffic control and accident prevention. Previous studies rely on large-scale traffic data collected from sensors. However,…
Next-generation wireless networks will see the convergence of communication and sensing, also exploiting the availability of large bandwidths in the Terahertz (THz) spectrum and electrically large antenna arrays on handheld devices. In…
Integrated localization and communication systems aim to reuse communication waveforms for simultaneous data transmission and localization, but delay resolution is fundamentally limited by the available bandwidth. In practice, large…
The visual simultaneous localization and mapping(vSLAM) is widely used in GPS-denied and open field environments for ground and surface robots. However, due to the frequent perception failures derived from lacking visual texture or the…
Long Term Evolution (LTE) signal is ubiquitously present in electromagnetic (EM) background environment, which make it an attractive signal source for the ambient backscatter communications (AmBC). In this paper, we propose a system, in…
Efficient, accurate, and flexible relative localization is crucial in air-ground collaborative tasks. However, current approaches for robot relative localization are primarily realized in the form of distributed multi-robot SLAM systems…
Monocular cameras coupled with inertial measurements generally give high performance visual inertial odometry. However, drift can be significant with long trajectories, especially when the environment is visually challenging. In this paper,…
In this paper, we propose a bistatic sensing-assisted beam tracking method for simultaneous communication and tracking of user vehicles navigating arbitrary-shaped road trajectories. Prior work on simultaneous communication and tracking…
In this paper, we present a multipath-based simultaneous localization and mapping (SLAM) algorithm that continuously adapts mulitiple map feature (MF) models describing specularly reflected multipath components (MPCs) from flat surfaces and…
(Visual) Simultaneous Localization and Mapping (SLAM) remains a fundamental challenge in enabling autonomous systems to navigate and understand large-scale environments. Traditional SLAM approaches struggle to balance efficiency and…
Millimeter-wave (mmWave) systems in the 30--300 GHz bands are among the fundamental enabling technologies of 5G and beyond 5G, providing large bandwidths, not only for high data rate communication, but also for precise positioning services,…
Cellular-based Unmanned Aerial Vehicle (UAV) systems are a promising paradigm to provide reliable and fast Beyond Visual Line of Sight (BVLoS) communication services for UAV operations. However, such systems are facing a serious GPS…
With the advent of extremely large-scale MIMO (XL-MIMO), mmWave/THz bands and ultra-wideband transmission, future 6G systems demand real-time positioning with centimeter or even millimeter level accuracy. This paper addresses the pronounced…
We present a demonstration of near real-time spacecraft astrometry with the VLBA. We detect the X-band downlink signal from Mars Reconnaissance Orbiter and Odyssey with the VLBA and transmit the data over the internet for correlation at the…
Simultaneous localisation and mapping (SLAM) is the problem of autonomous robots to construct or update a map of an undetermined unstructured environment while simultaneously estimate the pose in it. The current trend towards self-driving…
Prediction skills can be crucial for the success of tasks where robots have limited time to act or joints actuation power. In such a scenario, a vision system with a fixed, possibly too low, sampling rate could lead to the loss of…
Simultaneous Localization and Mapping (SLAM) in large-scale, unknown, and complex subterranean environments is a challenging problem. Sensors must operate in off-nominal conditions; uneven and slippery terrains make wheel odometry…
Millimeter wave signals and large antenna arrays are considered enabling technologies for future 5G networks. Despite their benefits for achieving high data rate communications, their potential advantages for tracking of the location of the…
Simultaneous localization and mapping (SLAM) provides user tracking and environmental mapping capabilities, enabling communication systems to gain situational awareness. Advanced communication networks with ultra-wideband, multiple…