相关论文: Geometry-based Multi-beam Survey Line Layout Probl…
Detecting multiple planes in images is a challenging problem, but one with many applications. Recent work such as J-Linkage and Ordered Residual Kernels have focussed on developing a domain independent approach to detect multiple…
Millimeter-wave (mmWave) communication systems rely on narrow beams for achieving sufficient receive signal power. Adjusting these beams is typically associated with large training overhead, which becomes particularly critical for…
In this paper, colocated MIMO radar waveform design is considered by minimizing the integrated side-lobe level to obtain beam patterns with lower side-lobe levels than competing methods. First, a quadratic programming problem is formulated…
Marine environments present significant challenges for perception and autonomy due to dynamic surfaces, limited visibility, and complex interactions between aerial, surface, and submerged sensing modalities. This paper introduces the Aerial…
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…
We detail acoustic backscatter processing for characterization and mapping of the ocean bottom.
The sonar images provide a rapid view of the seabed in order to characterize it. However, in such as uncertain environment, real seabed is unknown and the only information we can obtain, is the interpretation of different human experts,…
Millimeter-wave is one of the technologies powering the new generation of wireless communication systems. To compensate the high path-loss, millimeter-wave devices need to use highly directional antennas. Consequently, beam misalignment…
Accurate mapping of ocean bathymetry is a multi-faceted process, needed for safe and efficient navigation on shipping routes and for predicting tsunami waves. Currently available bathymetry data does not always provide the resolution to…
In the beyond fifth-generation (B5G) and upcoming sixth-generation (6G) wireless communication systems, millimeter (mmWave) wave technology is a promising solution for offering additional bandwidth resources and mitigating spectrum…
The geometric-mean method is often used to estimate the spatial resolution of a position-sensitive detector probed by tracks. It calculates the resolution solely from measured track data without using a detailed tracking simulation and…
This paper proposes a 3D LiDAR SLAM algorithm named Ground-SLAM, which exploits grounds in structured multi-floor environments to compress the pose drift mainly caused by LiDAR measurement bias. Ground-SLAM is developed based on the…
Plane feature is a kind of stable landmark to reduce drift error in SLAM system. It is easy and fast to extract planes from dense point cloud, which is commonly acquired from RGB-D camera or lidar. But for stereo camera, it is hard to…
Ground-truth depth, when combined with color data, helps improve object detection accuracy over baseline models that only use color. However, estimated depth does not always yield improvements. Many factors affect the performance of object…
This work presents an analytical framework for modeling a detected orbital angular momentum (OAM) spectrum of an optical beam subject to tilt and lateral displacement. Firstly, we demonstrate that both types of misalignment generate OAM…
Localizing a radiant source is a widespread problem to many scientific and technological research areas. E.g. localization based on range measurements stays at the core of technologies like radar, sonar and wireless sensors networks. In…
Critical maritime infrastructure increasingly demands situational awareness both above and below the surface, yet existing ''seabed-to-sky'' mapping pipelines either rely on GNSS (vulnerable to shadowing/spoofing) or expensive bathymetric…
Depth map estimation from images is an important task in robotic systems. Existing methods can be categorized into two groups including multi-view stereo and monocular depth estimation. The former requires cameras to have large overlapping…
Mobile users are prone to experience beam failure due to beam drifting in millimeter wave (mmWave) communications. Sensing can help alleviate beam drifting with timely beam changes and low overhead since it does not need user feedback. This…
Plane Wave imaging enables many applications that require high frame rates, including localisation microscopy, shear wave elastography, and ultra-sensitive Doppler. To alleviate the degradation of image quality with respect to conventional…