相关论文: EdgeLoc: A Communication-Adaptive Parallel System …

Reliable localization is critical for robot navigation, yet most existing systems implicitly assume that all viewing directions at a location are equally informative. In practice, localization becomes unreliable when the robot observes…

Traffic near-crash events serve as critical data sources for various smart transportation applications, such as being surrogate safety measures for traffic safety research and corner case data for automated vehicle testing. However, there…

Intelligent transportation systems (ITSs) will be a major component of tomorrow's smart cities. However, realizing the true potential of ITSs requires ultra-low latency and reliable data analytics solutions that can combine, in real-time, a…

A key component of graph-based SLAM systems is the ability to detect loop closures in a trajectory to reduce the drift accumulated over time from the odometry. Most LiDAR-based methods achieve this goal by using only the geometric…

Robust place recognition is essential for reliable localization in robotics, particularly in complex environments with frequent indoor-outdoor transitions. However, existing LiDAR-based datasets often focus on outdoor scenarios and lack…

We propose an accurate and robust multi-modal sensor fusion framework, MetroLoc, towards one of the most extreme scenarios, the large-scale metro vehicle localization and mapping. MetroLoc is built atop an IMU-centric state estimator that…

Road construction sites create major challenges for both autonomous vehicles and human drivers due to their highly dynamic and heterogeneous nature. This paper presents a real-time system that detects and localizes roadworks by combining a…

Multi-server Federated Learning (FL) has emerged as a promising solution to mitigate communication bottlenecks of single-server FL. We focus on a typical multi-server FL architecture, where the regions covered by different edge servers…

The widespread adoption of machine learning on edge devices, such as mobile phones, laptops, IoT devices, etc., has enabled real-time AI applications in resource-constrained environments. Existing solutions for managing computational…

Intelligent Transportation Systems (ITS) leverage Integrated Sensing and Communications (ISAC) to enhance data exchange between vehicles and infrastructure in the Internet of Vehicles (IoV). This integration inevitably increases computing…

Edge computing is increasingly proposed as a solution for reducing resource consumption of mobile devices running simultaneous localization and mapping (SLAM) algorithms, with most edge-assisted SLAM systems assuming the communication…

With the wide penetration of smart robots in multifarious fields, Simultaneous Localization and Mapping (SLAM) technique in robotics has attracted growing attention in the community. Yet collaborating SLAM over multiple robots still remains…

Accurate localization of mobile terminals is a pivotal aspect of integrated sensing and communication systems. Traditional fingerprint-based localization methods, which infer coordinates from channel information within pre-set rectangular…

As technology advances in autonomous mobile robots, mobile service robots have been actively used more and more for various purposes. Especially, serving robots have been not surprising products anymore since the COVID-19 pandemic. One of…

Cooperative Intelligent Transport Systems (C-ITS) create, share and process massive amounts of data which needs to be real-time managed to enable new cooperative and autonomous driving applications. Vehicle-to-Everything (V2X)…

Camera relocalization is pivotal in computer vision, with applications in AR, drones, robotics, and autonomous driving. It estimates 3D camera position and orientation (6-DoF) from images. Unlike traditional methods like SLAM, recent…

Vehicular Mobile Edge Computing (VEC) drives the future by enabling low-latency, high-efficiency data processing at the very edge of vehicular networks. This drives innovation in key areas such as autonomous driving, intelligent…

Localization in already mapped environments is a critical component in many robotics and automotive applications, where previously acquired information can be exploited along with sensor fusion to provide robust and accurate localization…

Promising solutions exist today that can accurately track mobile entities indoor using visual inertial odometry in favorable visual conditions, or by leveraging fine-grained ranging (RF, ultrasonic, IR, etc.) to reference anchors. However,…

This paper presents Edge-based Mixture of Experts (MoE) Collaborative Computing (EMC2), an optimal computing system designed for autonomous vehicles (AVs) that simultaneously achieves low-latency and high-accuracy 3D object detection.…