相关论文: A Belief Propagation Algorithm for Multipath-based…
A geometric nonlinear observer algorithm for Simultaneous Localization and Mapping (SLAM) developed on the Lie group of \mathbb{SLAM}_{n}\left(3\right) is proposed. The presented novel solution estimates the vehicle's pose (i.e. attitude…
Massive multiuser multiple-input multiple-output (MIMO) and millimeter-wave (mmWave) communication are key physical layer technologies in future wireless systems. Their deployment, however, is expected to incur excessive baseband processing…
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…
In this paper, we introduce FMapping, an efficient neural field mapping framework that facilitates the continuous estimation of a colorized point cloud map in real-time dense RGB SLAM. To achieve this challenging goal without depth, a…
5G millimeter wave (mmWave) signals have inherent geometric connections to the propagation channel and the propagation environment. Thus, they can be used to jointly localize the receiver and map the propagation environment, which is termed…
We propose a Bayesian framework for the received-signal-strength-based cooperative localization problem with unknown path loss exponent. Our purpose is to infer the marginal posterior of each unknown parameter: the position or the path loss…
In this paper, a robust RGB-D SLAM system is proposed to utilize the structural information in indoor scenes, allowing for accurate tracking and efficient dense mapping on a CPU. Prior works have used the Manhattan World (MW) assumption to…
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…
This letter investigates target position estimation in integrated sensing and communication networks composed of multiple cooperating monostatic base stations (BSs). Each BS employs a MIMO-orthogonal time-frequency space (OTFS) scheme,…
As wireless systems evolve toward higher frequencies and extremely large antenna arrays, near-field (NF) propagation becomes increasingly dominant. Unlike far-field (FF) communication, which relies on a planar-wavefront model and is limited…
Compared to the linear MIMO detectors, the Belief Propagation (BP) detector has shown greater capabilities in achieving near optimal performance and better nature to iteratively cooperate with channel decoders. Aiming at real applications,…
Millimeter-wave communication is widely seen as a promising option to increase the capacity of vehicular networks, where it is expected that connected cars will soon need to transmit and receive large amounts of data. Due to harsh…
Accurate targets detection and tracking with mmWave radar is a key sensing capability that will enable more intelligent systems, create smart, efficient, automated system. This paper proposes an end-to-end detection-estimation-track…
Location awareness is a key factor for a wealth of wireless indoor applications. Its provision requires the careful fusion of diverse information sources. For agents that use radio signals for localization, this information may either come…
Traditional simultaneous localization and mapping (SLAM) methods focus on improvement in the robot's localization under environment and sensor uncertainty. This paper, however, focuses on mitigating the need for exact localization of a…
Recent localization frameworks exploit spatial information of complex channel measurements (CMs) to estimate accurate positions even in multipath propagation scenarios. State-of-the art CM fingerprinting(FP)-based methods employ…
Robot audition systems with multiple microphone arrays have many applications in practice. However, accurate calibration of multiple microphone arrays remains challenging because there are many unknown parameters to be identified, including…
MIMO systems can simultaneously transmit multiple data streams within the same frequency band, thus exploiting the spatial dimension to enhance performance. MIMO detection poses considerable challenges due to the interference and noise…
We propose an sparse Bayesian learning (SBL)-based method that leverages group sparsity and multiple parameterized dictionaries to detect the relevant dictionary entries and estimate their continuous parameters by combining data from…
Using the spatial structure of various indoor environments as prior knowledge, the robot would construct the map more efficiently. Autonomous mobile robots generally apply simultaneous localization and mapping (SLAM) methods to understand…