相关论文: Stabilized Adaptive Steering for 3D Sonar Micropho…

We propose a multi-sensor fusion method for capturing challenging 3D human motions with accurate consecutive local poses and global trajectories in large-scale scenarios, only using single LiDAR and 4 IMUs, which are set up conveniently and…

Recent advancements in visual-inertial motion capture systems have demonstrated the potential of combining monocular cameras with sparse inertial measurement units (IMUs) as cost-effective solutions, which effectively mitigate occlusion and…

Camera-LiDAR fusion is widely used in autonomous driving to enable accurate 3D object detection. However, bird's-eye view (BEV) fusion detectors can degrade significantly under domain shift and sensor failures, limiting reliability in…

This paper presents a novel framework to realize proprioception and closed-loop control for soft manipulators. Deformations with large elongation and large bending can be precisely predicted using geometry-based sensor signals obtained from…

Localization and mapping with heterogeneous multi-sensor fusion have been prevalent in recent years. To adequately fuse multi-modal sensor measurements received at different time instants and different frequencies, we estimate the…

Global Positioning System (GPS) navigation provides accurate positioning with global coverage, making it a reliable option in open areas with unobstructed sky views. However, signal degradation may occur in indoor spaces and urban canyons.…

This paper investigates flexible beamforming design in an integrated sensing and communication (ISAC) network with movable antennas (MAs). A bistatic radar system is integrated into a multi-user multiple-input-single-output (MU-MISO)…

In the evolving landscape of high-speed communication, the shift from traditional pilot-based methods to a Sensing-Oriented Approach (SOA) is anticipated to gain momentum. This paper delves into the development of an innovative Integrated…

Accurate state estimation is a fundamental problem for autonomous robots. To achieve locally accurate and globally drift-free state estimation, multiple sensors with complementary properties are usually fused together. Local sensors…

Most recent unsupervised non-rigid 3D shape matching methods are based on the functional map framework due to its efficiency and superior performance. Nevertheless, respective methods struggle to obtain spatially smooth pointwise…

In this paper, we argue that modern pre-integration methods for inertial measurement units (IMUs) are accurate enough to ignore the drift for short time intervals. This allows us to consider a simplified camera model, which in turn admits…

Airborne 3D imaging using ultrasound is a promising sensing modality for robotic applications in harsh environments. Over the last decade, several high-performance systems have been proposed in the literature. Most of these sensors use a…

Arrays of ultrasonic sensors are capable of 3D imaging in air and an affordable supplement to other sensing modalities, such as radar, lidar, and camera, i.e. in heterogeneous sensing systems. However, manufacturing tolerances of…

Autonomous racing has rapidly gained research attention. Traditionally, racing cars rely on 2D LiDAR as their primary visual system. In this work, we explore the integration of an event camera with the existing system to provide enhanced…

This paper proposes a computationally efficient method to estimate the time-varying relative pose between two visual-inertial sensor rigs mounted on the flexible wings of a fixed-wing unmanned aerial vehicle (UAV). The estimated relative…

Broadband beamforming is a technique to obtain the signal with a wide range of frequencies. It maintains the signal integrity and spatial selectivity over frequencies. This is important in several applications such as microphone array,…

Autonomous operation of UAVs in a closed environment requires precise and reliable pose estimate that can stabilize the UAV without using external localization systems such as GNSS. In this work, we are concerned with estimating the pose…

This paper proposes a novel inertial-aided localization approach by fusing information from multiple inertial measurement units (IMUs) and exteroceptive sensors. IMU is a low-cost motion sensor which provides measurements on angular…

This paper proposes a transmit beamforming strategy for the integrated sensing and communication (ISAC) systems enabled by the novel stacked intelligent metasurface (SIM) architecture, where the base station (BS) simultaneously performs…

This paper presents a novel fusion technique for LiDAR Simultaneous Localization and Mapping (SLAM), aimed at improving localization and 3D mapping using LiDAR sensor. Our approach centers on the Inferred Attention Fusion (INAF) module,…