相关论文: Pose Graph Optimization for a MAV Indoor Localizat…
The integration of sensing capabilities into 5G New Radio (5G NR) networks offers an opportunity to enable the detection of airborne objects without the need for dedicated radars. This paper investigates the feasibility of using…
Reliable detection, localization and identification of small drones is essential to promote safe, secure and privacy-respecting operation of Unmanned-Aerial Systems (UAS), or simply, drones. This is an increasingly challenging problem with…
We present a method for simultaneous localisation and wind turbine model fitting for a drone performing an automated surface inspection. We use a skeletal parameterisation of the turbine that can be easily integrated into a non-linear least…
Accurate indoor localization has long been a challenging problem due to the presence of multipath. Joint direction-of-arrival (DOA) and time delay (TD) estimation is a promising technique for accurate indoor Localization in next generation…
For many applications, drones are required to operate entirely or partially autonomously. To fly completely or partially on their own, drones need access to location services to get navigation commands. While using the Global Positioning…
Accurate and consistent vehicle localization in urban areas is challenging due to the large-scale and complicated environments. In this paper, we propose onlineFGO, a novel time-centric graph-optimization-based localization method that…
Accurate state estimation is a fundamental problem for autonomous robots. To achieve locally accurate and globally drift-free state estimation, multiple sensors with complementary properties are usually fused together. Local sensors…
Precise Time-of-Arrival (TOA) estimations of aircraft and drone signals are important for a wide set of applications including aircraft/drone tracking, air traffic data verification, or self-localization. Our focus in this work is on TOA…
Globally localizing a mobile robot in a known map is often a foundation for enabling robots to navigate and operate autonomously. In indoor environments, traditional Monte Carlo localization based on occupancy grid maps is considered the…
We present a novel optimization algorithm called DroNeRF for the autonomous positioning of monocular camera drones around an object for real-time 3D reconstruction using only a few images. Neural Radiance Fields or NeRF, is a novel view…
In this article, we design a new time-of-arrival (TOA) system for simultaneous user device (UD) localization and synchronization with a periodic asymmetric ranging network, namely PARN. The PARN includes one primary anchor node (PAN)…
Movable Antenna (MA) technology is emerging as a promising advancement with the potential to significantly enhance the performance of future wireless communication and sensing systems. In this paper, we address two-dimensional (2D)…
In this work, we evaluate the use of aerial drone hover constraints in a multisensor fusion of ground robot and drone data to improve the localization performance of a drone. In particular, we build upon our prior work on cooperative…
This letter introduces a novel unmanned aerial vehicle (UAV)-intelligent reflecting surface (IRS) structure into near-field localization systems to enhance the design flexibility of IRS, thereby obtaining additional performance gains.…
In air-ground collaboration scenarios without GPS and prior maps, the relative positioning of drones and unmanned ground vehicles (UGVs) has always been a challenge. For a drone equipped with monocular camera and an UGV equipped with LiDAR…
Estimating the location and orientation of humans is an essential skill for service and assistive robots. To achieve a reliable estimation in a wide area such as an apartment, multiple RGBD cameras are frequently used. Firstly, these setups…
We introduce the concept of using unmanned aerial vehicles (UAVs) as drone base stations for in-band Integrated Access and Backhaul (IB-IAB) scenarios for 5G networks. We first present a system model for forward link transmissions in an…
Localization of a wireless mobile device or a robot in indoor and GPS-denied environments is a difficult problem, particularly in dynamic scenarios where traditional cameras and LIDAR-based alternative sensing and localization modalities…
Autonomous vehicles (AVs) are poised to revolutionize the transportation industry by enhancing traffic efficiency and road safety. However, achieving optimal vehicular autonomy demands an uninterrupted and precise positioning solution,…
The advent of 5G positioning techniques by 3GPP has unlocked possibilities for applications in public safety, vehicular systems, and location-based services. However, these applications demand accurate and reliable positioning performance,…