相关论文: Pose Graph Optimization for a MAV Indoor Localizat…

Channel Charting (CC) has emerged as a promising framework for data-driven radio localization, yet existing approaches often struggle to scale globally and to handle the distortions introduced by non-line-of-sight (NLoS) conditions. In this…

The increasing spreading of small commercial Unmanned Aerial Vehicles (UAVs, aka drones) presents serious threats for critical areas such as airports, power plants, governmental and military facilities. In fact, such UAVs can easily disturb…

We study time difference of arrival (TDoA)-based algorithms for drone controller localization and analyze TDoA estimation in multipath channels. Building on TDoA estimation, we propose two algorithms to enhance localization accuracy in…

Positional estimation is of great importance in the public safety sector. Emergency responders such as fire fighters, medical rescue teams, and the police will all benefit from a resilient positioning system to deliver safe and effective…

Rapid generation of large-scale orthoimages from Unmanned Aerial Vehicles (UAVs) has been a long-standing focus of research in the field of aerial mapping. A multi-sensor UAV system, integrating the Global Positioning System (GPS), Inertial…

Tag-based visual-inertial localization is a lightweight method for enabling autonomous data collection missions of low-cost unmanned aerial vehicles (UAVs) in indoor construction environments. However, finding the optimal tag configuration…

Precise localization is one key element of the Internet of Things (IoT). Especially concepts for position estimation when Global Navigation Satellite Systems (GNSS) are unavailable have moved into the focus. One crucial component for…

After years of growth, drone-based delivery is transforming logistics. At its core, real-time 6-DoF drone pose tracking enables precise flight control and accurate drone landing. With the widespread availability of urban 3D maps, the Visual…

Passive geolocation by multiple unmanned aerial vehicles (UAVs) covers a wide range of military and civilian applications including rescue, wild life tracking and electronic warfare. The sensor-target geometry is known to significantly…

For radio-based time-of-arrival (TOA) positioning systems applied in harsh environments, obstacles in the surroundings and on the vehicle itself will block the signals from the anchors, reduce the number of available TOA measurements and…

Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in popularity thanks to their robustness to harsh environmental…

Location awareness is now becoming a vital requirement for many practical applications. In this paper, we consider passive localization of multiple targets with one transmitter and several receivers based on time of arrival (TOA)…

This paper applies graph neural networks (GNN) in UAV communications to optimize the placement and transmission design. We consider a multiple-user multiple-input-single-output UAV communication system where a UAV intends to find a…

The fifth-generation new radio (5G NR) technology is expected to provide precise and reliable positioning capabilities along with high data rates. The Third Generation Partnership Project (3GPP) has started introducing positioning…

In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…

The agility and versatility offered by UAV platforms still encounter obstacles for full exploitation in industrial applications due to their indoor usage limitations. A significant challenge in this sense is finding a reliable and…

Unmanned Aerial Vehicles (UAVs) acting as Flying Access Points (FAPs) are being used to provide on-demand wireless connectivity in extreme scenarios. Despite ongoing research, the optimization of UAVs' positions according to dynamic users'…

In UAV-to-UAV communication, airborne UAVs need to detect the location and direction of ultra-high-speed millimeter-wave (mmWave) and Terahertz (THz) coverage areas, referred to as ultra-spots. This predictive capability allows UAVs to…

Accurate indoor localization remains challenging due to variations in wireless signal environments and limited data availability. This paper introduces MetaGraphLoc, a novel system leveraging sensor fusion, graph neural networks (GNNs), and…

Besides being part of the Internet of Things (IoT), drones can play a relevant role in it as enablers. The 3D mobility of UAVs can be exploited to improve node localization in IoT networks for, e.g., search and rescue or goods localization…