相关论文: SLAM for Multiple Extended Targets using 5G Signal

Cellular operators have begun deploying 5G New Radio (NR) in all available bands: low (< 1 GHz), mid (1 - 6 GHz), and high (> 24 GHz) to exploit the different capabilities of each. At the same time, traditional 4G Long Term Evolution (LTE)…

SLAM (Simultaneous Localisation and Mapping) is a crucial component for robotic systems, providing a map of an environment, the current location and previous trajectory of a robot. While 3D LiDAR SLAM has received notable improvements in…

Simultaneous Localization and Mapping (SLAM) techniques play a key role towards long-term autonomy of mobile robots due to the ability to correct localization errors and produce consistent maps of an environment over time. Contrarily to…

Simultaneous localization and mapping (SLAM) is a crucial functionality for exploration robots and virtual/augmented reality (VR/AR) devices. However, some of such devices with limited resources cannot afford the computational or memory…

Accurately estimating the positions of multi-agent systems in indoor environments is challenging due to the lack of Global Navigation Satelite System (GNSS) signals. Noisy measurements of position and orientation can cause the integrated…

The first 5G (5th generation wireless systems) New Radio Release-15 was recently completed. However, the specification only considers the use of unicast technologies and the extension to point-to-multipoint (PTM) scenarios is not yet…

Standalone Global Navigation Satellite Systems (GNSS) are known to provide positioning accuracy of a few meters in open sky conditions. This accuracy can drop significantly when the line-of-sight (LOS) paths to some GNSS satellites are…

Satellite-based slum segmentation holds significant promise in generating global estimates of urban poverty. However, the morphological heterogeneity of informal settlements presents a major challenge, hindering the ability of models…

Integrated sensing and communication (ISAC) is anticipated to play a crucial role in sixth-generation (6G) mobile communication networks. A significant challenge in ISAC systems is the degradation of localization accuracy due to poor…

Building large-scale, globally consistent maps is a challenging problem, made more difficult in environments with limited access, sparse features, or when using data collected by novice users. For such scenarios, where state-of-the-art…

Generalized spatial modulation (GSM) uses $n_t$ transmit antenna elements but fewer transmit radio frequency (RF) chains, $n_{rf}$. Spatial modulation (SM) and spatial multiplexing are special cases of GSM with $n_{rf}=1$ and $n_{rf}=n_t$,…

Accurate and robust simultaneous localization and mapping (SLAM) is crucial for autonomous mobile systems, typically achieved by leveraging the geometric features of the environment. Incorporating semantics provides a richer scene…

GNSS are indispensable for various applications, but they are vulnerable to spoofing attacks. The original receiver autonomous integrity monitoring (RAIM) was not designed for securing GNSS. In this context, RAIM was extended with wireless…

Simultaneous Localization and Mapping (SLAM) is considered an ever-evolving problem due to its usage in many applications. Evaluation of SLAM is done typically using publicly available datasets which are increasing in number and the level…

The ongoing surge in applications of robotics brings both opportunities and challenges for the fifth-generation (5G) and beyond (B5G) of communication networks. This article focuses on 5G/B5G-enabled terrestrial robotic communications with…

5G standalone (SA) rollout is right around the corner. 28 GHz band is considered as one of the main spectrum bands for the 5G SA in many countries. However, the band has already been occupied by uplink of the fixed satellite service (FSS).…

Challenging indoor and urban environments with severe multipath propagation and obstructed LoS (OLoS) degrade classical radio frequency (RF) positioning. Multipath-based simultaneous localization and mapping (MP-SLAM) is a promising remedy,…

Radio-based simultaneous localization and mapping (SLAM) has the potential to provide precise user equipment (UE) localization and environmental sensing capabilities by exploiting radio signals. Most existing approaches leverage…

Achieving real-time Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian splatting (3DGS) in large-scale real-world environments remains challenging, as existing methods still struggle to jointly achieve low-latency pose…

A Simultaneous Localization and Mapping (SLAM) system must be robust to support long-term mobile vehicle and robot applications. However, camera and LiDAR based SLAM systems can be fragile when facing challenging illumination or weather…