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

ISAC is currently being standardized within the 3GPP New Radio (NR) to enable cellular infrastructure to perform sensing using existing communication waveforms. While standardization is progressing, practical deployment may be limited by…

A pose-graph-based optimization technique is widely used to estimate robot poses using various sensor measurements from devices such as laser scanners and cameras. The global navigation satellite system (GNSS) has recently been used to…

In this paper, we study probabilistic time-of-arrival (ToA) and angle-of-arrival (AoA) joint localization in real indoor environments. To mitigate the effects of multipath propagation, the joint localization algorithm incorporates into the…

In two-way time-of-arrival (TOA) systems, a user device (UD) obtains its position and timing information by round-trip communications to a number of anchor nodes (ANs) at known locations. Compared with the one-way TOA technique, the two-way…

Current trends in autonomous vehicles and their applications indicates an increasing need in positioning at low battery and compute cost. Lidars provide accurate localization at the cost of high compute and power consumption which could be…

mmWave communication has come up as the unexplored spectrum for 5G services. With new standards for 5G NR positioning, more off-the-shelf platforms and algorithms are needed to perform indoor positioning. An object can be accurately…

The capability to extract task specific, semantic information from raw sensory data is a crucial requirement for many applications of mobile robotics. Autonomous inspection of critical infrastructure with Unmanned Aerial Vehicles (UAVs),…

The roll out of new mobile network generations poses hard challenges due to various factors such as cost-benefit tradeoffs, existing infrastructure, and new technology aspects. In particular, one of the main challenges for the 5G deployment…

It is common in pose graph optimization (PGO) algorithms to assume that noise in the translations and rotations of relative pose measurements is uncorrelated. However, existing work shows that in practice these measurements can be highly…

Navigating unmanned aerial vehicles in environments where GPS signals are unavailable poses a compelling and intricate challenge. This challenge is further heightened when dealing with Nano Aerial Vehicles (NAVs) due to their compact size,…

Due to the high mobility and easy deployment, unmanned aerial vehicles (UAVs) have attracted much attention in the field of wireless communication and positioning. To meet the challenges of lack of infrastructure coverage, uncertain sensor…

Navigating in environments where the GPS signal is unavailable, weak, purposefully blocked, or spoofed has become crucial for a wide range of applications. A prime example is autonomous navigation for drones in indoor environments: to fly…

We propose a new method named LoD-Loc for visual localization in the air. Unlike existing localization algorithms, LoD-Loc does not rely on complex 3D representations and can estimate the pose of an Unmanned Aerial Vehicle (UAV) using a…

Efficient localization plays a vital role in many modern applications of Unmanned Ground Vehicles (UGV) and Unmanned aerial vehicles (UAVs), which would contribute to improved control, safety, power economy, etc. The ubiquitous 5G NR (New…

Localization and synchronization are very important in many wireless applications such as monitoring and vehicle tracking. Utilizing the same time of arrival (TOA) measurements for simultaneous localization and synchronization is…

This paper introduces a high-precision indoor positioning and tracking method that utilizes multi-site single-input single-output (SISO) radar systems. We propose a novel velocity synthesis-assisted (VSA) localization algorithm that…

Previous studies explained how the 2D positioning problem in indoor non line-of-sight environments can be addressed using ray tracing with noisy angle of arrival (AoA) measurements. In this work, we generalize these results on two aspects.…

This paper focuses on static source localization employing different combinations of measurements, including time-difference-of-arrival (TDOA), received-signal-strength (RSS), angle-of-arrival (AOA), and time-of-arrival (TOA) measurements.…

Positioning is becoming a key component in many Internet of Things (IoT) applications. The main challenges and limitations are the narrow bandwidth, low power and low cost which reduces the accuracy of the time of arrival (TOA) estimation.…

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…