相关论文: Robust Snapshot Radio SLAM
In the millimeter waves (mmWave) bands considered for 5G and beyond, the use of very high frequencies results in the interruption of communication whenever there is no line of sight between the transmitter and the receiver. Blockages have…
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…
Simultaneous localization and mapping (SLAM) provides user tracking and environmental mapping capabilities, enabling communication systems to gain situational awareness. Advanced communication networks with ultra-wideband, multiple…
The real-world deployment of fully autonomous mobile robots depends on a robust SLAM (Simultaneous Localization and Mapping) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing…
Multipath-based simultaneous localization and mapping (SLAM) is a promising approach to obtain position information of transmitters and receivers as well as information regarding the propagation environments in future mobile communication…
Radio maps are essential for enhancing wireless communications and localization. However, existing methods for constructing radio maps typically require costly calibration processes to collect location-labeled channel state information…
The accurate and low-cost localization of sensors using a wireless sensor network is critically required in a wide range of today's applications. We propose a novel, robust maximum likelihood-type method for distributed cooperative received…
In this paper, we present a multipath-based simultaneous localization and mapping (SLAM) algorithm that continuously adapts mulitiple map feature (MF) models describing specularly reflected multipath components (MPCs) from flat surfaces and…
This paper presents Range-SLAM, a real-time, lightweight SLAM system designed to address the challenges of localization and mapping in environments with smoke and other harsh conditions using Ultra-Wideband (UWB) signals. While optical…
Accurate localization of non-cooperative signal sources in non-line-of-sight (NLoS) environments remains a critical challenge with a wide range of applications, including autonomous navigation, industrial automation, and emergency response.…
Simultaneous Localization and Mapping (SLAM) is one of the key robotics tasks as it tackles simultaneous mapping of the unknown environment defined by multiple landmark positions and localization of the unknown pose (i.e., attitude and…
Precise indoor localization remains a challenging problem for a variety of essential applications. A promising approach to address this problem is to exchange radio signals between mobile agents and static physical anchors (PAs) that bounce…
Simultaneous localization and mapping (SLAM) plays a vital role in mapping unknown spaces and aiding autonomous navigation. Virtually all state-of-the-art solutions today for 2D SLAM are designed for dense and accurate sensors such as laser…
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…
Multipath-based simultaneous localization and mapping (MP-SLAM) is a promising approach for future 6G networks to jointly estimate the positions of transmitters and receivers together with the propagation environment. In cooperative…
In this paper, a novel environmental mapping method is proposed to outline the indoor layout utilizing the line-of-sight (LoS) state information of extremely large aperture array (ELAA) channels. It leverages the spatial resolution provided…
The current optimization approaches of construction machinery are mainly based on internal sensors. However, the decision of a reasonable strategy is not only determined by its intrinsic signals, but also very strongly by environmental…
The simultaneous localization and mapping (SLAM) problem is considered in three dimensions. The proposed algorithm, differential geometric SLAM (DG-SLAM), employs methods from differential geometry to propagate the state and map estimates.…
Ensuring smooth mobility management while employing directional beamformed transmissions in 5G millimeter-wave networks calls for robust and accurate user equipment (UE) localization and tracking. In this article, we develop neural…
While visual SLAM systems are well studied and achieve impressive results in indoor and urban settings, natural, outdoor and open-field environments are much less explored and still present relevant research challenges. Visual navigation…