相关论文: OnRMap: An Online Radio Mapping Approach for Large…
Dynamic path planning must remain reliable in the presence of sensing noise, uncertain localization, and incomplete semantic perception. We propose a practical, implementation-friendly planner that operates on occupancy grids and optionally…
Radio Map Prediction (RMP), aiming at estimating coverage of radio wave, has been widely recognized as an enabling technology for improving radio spectrum efficiency. However, fast and reliable radio map prediction can be very challenging…
Radio map estimation (RME), also known as spectrum cartography, aims to reconstruct the strength of radio interference across different domains (e.g., space and frequency) from sparsely sampled measurements. To tackle this typical inverse…
Informative path planning (IPP) is a crucial task in robotics, where agents must design paths to gather valuable information about a target environment while adhering to resource constraints. Reinforcement learning (RL) has been shown to be…
Accurate perception of objects in the environment is important for improving the scene understanding capability of SLAM systems. In robotic and augmented reality applications, object maps with semantic and metric information show attractive…
Radio maps find numerous applications in wireless communications and mobile robotics tasks, including resource allocation, interference coordination, and mission planning. Although numerous techniques have been proposed to construct radio…
WLAN localization has become an active research field recently. Due to the wide WLAN deployment, WLAN localization provides ubiquitous coverage and adds to the value of the wireless network by providing the location of its users without…
Outdoor radio map estimation is an important tool for network planning and resource management in modern Internet of Things (IoT) and cellular systems. Radio map describes spatial signal strength distribution and provides network coverage…
Reconfigurable Intelligent Surface (RIS) has been recognized as a promising solution for enhancing localization accuracy. Traditional RIS-based localization methods typically rely on prior channel knowledge, beam scanning, and pilot-based…
This paper leverages the potential of Large Intelligent Surface (LIS) for radio sensing in 6G wireless networks. Major research has been undergone about its communication capabilities but it can be exploited as a formidable tool for radio…
Radio maps are emerging as a popular means to endow next-generation wireless communications with situational awareness. In particular, radio maps are expected to play a central role in unmanned aerial vehicle (UAV) communications since they…
We present an online semantic object mapping system for a quadruped robot operating in real indoor environments, turning sensor detections into named objects in a global map. During a run, the mapper integrates range geometry with camera…
This work describes the implementation of a simple and computationally efficient Intelligent Navigation System (INS) for autonomous systems used in areas where human access is impossible. The system uses Laser Range Finder (LRF) readings as…
Robotic perception is becoming a key technology for navigation aids, especially helping individuals with visual impairments through spatial sonification. This paper introduces a mapping representation that accurately captures scene geometry…
A transmitted, unknown radar signal is observed at the receiver through more than one path in additive noise. The aim is to recover the waveform of the intercepted signal and to simultaneously estimate the direction of arrival (DOA). We…
While a vast number of location-based services appeared lately, indoor positioning solutions are developed to provide reliable position information in environments where traditionally used satellite-based positioning systems cannot provide…
Simultaneous localization and mapping (SLAM) is paramount for unmanned systems to achieve self-localization and navigation. It is challenging to perform SLAM in large environments, due to sensor limitations, complexity of the environment,…
Sensing is an integral part of 6G and beyond systems, providing exceptional environmental perception along with communication. Radio frequency (RF)-based sensing often relies on simplified geometric assumptions (e.g., point scatterers or…
This paper presents OpenREALM, a real-time mapping framework for Unmanned Aerial Vehicles (UAVs). A camera attached to the onboard computer of a moving UAV is utilized to acquire high resolution image mosaics of a targeted area of interest.…
In wireless networks, radio-map based locating techniques are commonly used to cope the complex fading feature of radio signal, in which a radio-map is built by calibrating received signal strength (RSS) signatures at training locations in…