相关论文: Pose Graph Optimization for a MAV Indoor Localizat…
Buried survivor detection in the post-disaster environment by employing radar as sensor is an appealing approach. However, the implementation in the real field is challenging especially for large observation missions. Mounting the radar on…
A robust and accurate positioning solution is required to increase the safety in GPS-denied environments. Although there is a lot of available research in this area, little has been done for confined environments such as tunnels. Therefore,…
With the introduction of shared spectrum sensing and beam-forming based multi-antenna transceivers, 5G networks demand spectrum sensing to identify opportunities in time, frequency, and spatial domains. Narrow beam-forming makes it…
Modern autonomous vehicles and robots utilize versatile sensors for localization and mapping. The fidelity of these maps is paramount, as an accurate environmental representation is a prerequisite for stable and precise localization. Factor…
Achieving the highest levels of autonomy within autonomous vehicles (AVs) requires a precise and dependable positioning solution that is not influenced by the environment. 5G mmWave signals have been extensively studied in the literature to…
Accurate localization is a core component of a robot's navigation system. To this end, global navigation satellite systems (GNSS) can provide absolute measurements outdoors and, therefore, eliminate long-term drift. However, fusing GNSS…
This paper explores how a flying drone can autonomously navigate while constructing a narrowband radio map for signal localization. As flying drones become more ubiquitous, their wireless signals will necessitate new wireless technologies…
In this paper, we propose a general graph optimization based framework for localization, which can accommodate different types of measurements with varying measurement time intervals. Special emphasis will be on range-based localization.…
Autonomous drone racing demands robust real-time localization under extreme conditions: high-speed flight, aggressive maneuvers, and payload-constrained platforms that often rely on a single camera for perception. Existing visual SLAM…
5G-based mmWave wireless positioning has emerged as a promising solution for autonomous vehicle (AV) positioning in recent years. Previous studies have highlighted the benefits of fusing a line-of-sight (LoS) 5G positioning solution with an…
This paper presents an indoor pose estimation system for micro aerial vehicles (MAVs) with a single WiFi access point. Conventional approaches based on computer vision are limited by illumination conditions and environmental texture. Our…
High-precision positioning accuracy is among the key features of the future fifth-generation (5G-advanced) cellular networks to enable a wide variety of commercial, critical, and consumer use cases. 5G new radio (NR) systems have relied on…
With the exponential growth of the unmanned aerial vehicle (UAV) industry and a broad range of applications expected to appear in the coming years, the employment of traditional radar systems is becoming increasingly cumbersome for UAV…
Reliable localization is one of the most important parts of an MAV system. Localization in an indoor GPS-denied environment is a relatively difficult problem. Current vision based algorithms track optical features to calculate odometry. We…
This paper presents a range inertial localization algorithm for a 3D prior map. The proposed algorithm tightly couples scan-to-scan and scan-to-map point cloud registration factors along with IMU factors on a sliding window factor graph.…
In this paper, we present a motion planning framework for multi-modal vehicle dynamics. Our proposed algorithm employs transcription of the optimization objective function, vehicle dynamics, and state and control constraints into sparse…
Sensor fusion of a MEMS IMU with a magnetometer is a popular system design, because such 9-DoF (degrees of freedom) systems are capable of achieving drift-free 3D orientation tracking. However, these systems are often vulnerable to ambient…
Integrated satellite-terrestrial communications networks aim to exploit both the satellite and the ground mobile communications, thus providing genuine ubiquitous coverage. For 5G integrated low earth orbit (LEO) satellite communication…
This letter proposes an algebraic solution for the problem of 3-D source localization utilizing the minimum number of measurements, i.e., one Time Difference of Arrival (TDOA) and one Angle of Arrival (AOA) pair. The proposed method employs…
Emerging wireless applications are requiring ever more accurate location-positioning from sensor measurements. In this paper, we develop sensor selection strategies for 3D wireless positioning based on time of arrival (TOA) and received…