相关论文: Improving 3D Cellular Positioning Integrity with B…

Bayesian receiver autonomous integrity monitoring (RAIM) algorithms are developed for the snapshot cellular positioning problem in a simplified one-dimensional (1D) linear Gaussian setting. Position estimation, multi-fault detection and…

Legacy and advanced receiver autonomous integrity monitoring (RAIM/ARAIM) rely on Gaussian error models that can be overly conservative for real-world non-Gaussian errors. This paper proposes an extended jackknife detector capable of…

Unmanned aerial vehicles (UAVs) have increasingly been adopted for safety, security, and rescue missions, for which they need precise and reliable pose estimates relative to their environment. To ensure mission safety when relying on visual…

GNSS are indispensable for various applications, but they are vulnerable to spoofing attacks. The original receiver autonomous integrity monitoring (RAIM) was not designed for securing GNSS. In this context, RAIM was extended with wireless…

We propose a 6D Bayesian-based localization framework to estimate the position and rotation angles of a mobile station (MS) within an indoor reconfigurable intelligent surface (RIS)-aided system. This framework relies on a probabilistic…

With a Bayesian Gaussian regression approach, a systematic method for analyzing a storage ring's beam position monitor (BPM) system requirements has been developed. The ultimate performance of a ring-based accelerator, based on brightness…

Incrementally recovering real-sized 3D geometry from a pose-free RGB stream is a challenging task in 3D reconstruction, requiring minimal assumptions on input data. Existing methods can be broadly categorized into end-to-end and visual…

We propose and evaluate an iterative localization mechanism employing Bayesian inference to estimate the position of a target using received signal strength measurements. The probability density functions of the target's coordinates are…

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…

The standard beam management procedure in 5G requires the user equipment (UE) to periodically measure the received signal reference power (RSRP) on each of a set of beams proposed by the basestation (BS). It is prohibitively expensive to…

The application of radio-based positioning systems is ever increasing. In light of the dissemination of the Internet of Things and location-aware communication systems, the demands on localization architectures and amount of possible use…

A popular class of lidar-based grid mapping algorithms computes for each map cell the probability that it reflects an incident laser beam. These algorithms typically determine the map as the set of reflection probabilities that maximizes…

3D Gaussian Splatting (3DGS) has shown promising results for 3D scene modeling using mixtures of Gaussians, yet its existing simultaneous localization and mapping (SLAM) variants typically rely on direct, deterministic pose optimization…

Inferring the posterior distribution in SLAM is critical for evaluating the uncertainty in localization and mapping, as well as supporting subsequent planning tasks aiming to reduce uncertainty for safe navigation. However, real-time full…

Bayesian estimation strategies represent the most fundamental formulation of the state estimation problem available, and apply readily to nonlinear systems with non-Gaussian uncertainties. The present paper introduces a novel method for…

Accurate 3D reconstruction of vehicles is vital for applications such as vehicle inspection, predictive maintenance, and urban planning. Existing methods like Neural Radiance Fields and Gaussian Splatting have shown impressive results but…

Matrix completion and robust principal component analysis have been widely used for the recovery of data suffering from missing entries or outliers. In many real-world applications however, the data is also time-varying, and the naive…

Global Navigation Satellite System (GNSS) is pervasive in navigation and positioning applications, where precise position and time referencing estimations are required. Conventional methods for GNSS positioning involve a two-step process,…

Recently, map representations based on radiance fields such as 3D Gaussian Splatting and NeRF, which excellent for realistic depiction, have attracted considerable attention, leading to attempts to combine them with SLAM. While these…

Automated 3D pose estimation of satellites and other known space objects is a critical component of space situational awareness. Ground-based imagery offers a convenient data source for satellite characterization; however, analysis…