相关论文: AoA-based Position and Orientation Estimation Usin…

We study the performance bounds of vehicle-to-vehicle (V2V) relative positioning for vehicles with multiple antenna arrays. The Cram\'{e}r-Rao bound for the estimation of the relative position and the orientation of the Tx vehicle is…

The application of cooperative localization in vehicular networks is attractive to improve accuracy and coverage. Conventional distance measurements between vehicles are limited by the need for synchronization and provide no heading…

Accurate and robust localization is critical for the safe operation of Connected and Automated Vehicles (CAVs), especially in complex urban environments where Global Navigation Satellite System (GNSS) signals are unreliable. This paper…

We investigate localization of a source based on angle of arrival (AoA) measurements made at a geographically dispersed network of cooperating receivers. The goal is to efficiently compute accurate estimates despite outliers in the AoA…

Collision avoidance and platooning applications require vehicle localization at cm-level accuracy and at least 50 Hz rate for full autonomy. The RADAR/LIDAR and camera based methods currently used for vehicle localization do not satisfy…

We study the problem of high accuracy localization of mobile nodes in a multipath-rich environment where sub-meter accuracies are required. We employ a peer-to-peer framework where the vehicles/nodes can get pairwise multipath-degraded…

Cooperative map matching (CMM) uses the Global Navigation Satellite System (GNSS) positioning of a group of vehicles to improve the standalone localization accuracy. It has been shown to reduce GNSS error from several meters to sub-meter…

Accurate location information is indispensable for the emerging applications of \ac{iov}, such as automatic driving and formation control. In the real scenario, vision-based localization has demonstrated superior performance to other…

Large-scale MIMO systems are well known for their advantages in communications, but they also have the potential for providing very accurate localization thanks to their high angular resolution. A difficult problem arising indoors and…

Angle of arrival (AOA) is widely used to locate a wireless signal emitter in unmanned aerial vehicle (UAV) localization. Compared with received signal strength (RSS) and time of arrival (TOA), it has higher accuracy and is not sensitive to…

Current autonomous driving vehicles rely mainly on their individual sensors to understand surrounding scenes and plan for future trajectories, which can be unreliable when the sensors are malfunctioning or occluded. To address this problem,…

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)…

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…

In this paper, we present a cooperative odometry scheme based on the detection of mobile markers in line with the idea of cooperative positioning for multiple robots [1]. To this end, we introduce a simple optimization scheme that realizes…

Massive multiple-input multiple-output (MIMO) radar, enabled by millimeter-wave virtual MIMO techniques, provides great promises to the high-resolution automotive sensing and target detection in unmanned ground/aerial vehicles (UGA/UAV). As…

With the application of high-frequency communication and extremely large MIMO (XL-MIMO), the near-field effect has become increasingly apparent. The near-field channel estimation and position estimation problems both rely on the Angle of…

In this paper, we present a framework for performing collaborative localization for groups of micro aerial vehicles (MAV) that use vision based sensing. The vehicles are each assumed to be equipped with a forward-facing monocular camera,…

As massive multiple-input multiple-output (MIMO) becomes popular, direction of arrival (DOA) measurement has been made a real renaissance due to the high-resolution achieved. Thus, there is no doubt about DOA estimation using massive MIMO.…

We address the localization of robots in a multi-MAV system where external infrastructure like GPS or motion capture systems may not be available. Our approach lends itself to implementation on platforms with several constraints on size,…

Existing Vision-Language models (VLMs) estimate either long-term trajectory waypoints or a set of control actions as a reactive solution for closed-loop planning based on their rich scene comprehension. However, these estimations are coarse…