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

4D millimeter-wave (mmWave) radars are sensors that provide robustness against adverse weather conditions (rain, snow, fog, etc.), and as such they are increasingly used for odometry and SLAM (Simultaneous Location and Mapping). However,…

Gaussian Process (GP) models are widely used for Robotic Information Gathering (RIG) in exploring unknown environments due to their ability to model complex phenomena with non-parametric flexibility and accurately quantify prediction…

We evaluate the robustness of a probabilistic formulation of system identification (ID) to sparse, noisy, and indirect data. Specifically, we compare estimators of future system behavior derived from the Bayesian posterior of a learning…

This paper presents the first photo-realistic LiDAR-Inertial-Camera Gaussian Splatting SLAM system that simultaneously addresses visual quality, geometric accuracy, and real-time performance. The proposed method performs robust and accurate…

Motivation: Seed location filtering is critical in DNA read mapping, a process where billions of DNA fragments (reads) sampled from a donor are mapped onto a reference genome to identify genomic variants of the donor. State-of-the-art read…

In this letter, we present in detail the system-level modeling of reconfigurable intelligent surface (RIS)-assisted cellular systems by considering a 3-dimensional channel model between base station, RIS, and user. We prove that the optimal…

In Inverse Synthetic Aperture Radar (ISAR), random missing entries of the received radar echo matrix deteriorate the imaging quality, compromising target distinction from the background. Compressive sensing techniques or matrix completion…

3D Gaussian Splatting (3DGS) has recently emerged as a powerful representation of geometry and appearance for dense Simultaneous Localization and Mapping (SLAM). Through rapid, differentiable rasterization of 3D Gaussians, many 3DGS SLAM…

Estimating position and orientation change of a mobile platform from two consecutive point clouds provided by a high-resolution sensor is a key problem in autonomous navigation. In particular, scan matching algorithms aim to find the…

As traditional cellular base stations (BSs) are optimized for 2D ground service, providing 3D connectivity to uncrewed aerial vehicles (UAVs) requires re-engineering of the existing infrastructure. In this paper, we propose a new…

Feature matching is crucial in visual localization, where 2D-3D correspondence plays a major role in determining the accuracy of camera pose. A sufficient number of well-distributed 2D-3D correspondences is essential for accurate pose…

3D microscopy is key in the investigation of diverse biological systems, and the ever increasing availability of large datasets demands automatic cell identification methods that not only are accurate, but also can imply the uncertainty in…

High-precision positioning is vital for cellular networks to support innovative applications such as extended reality, unmanned aerial vehicles (UAVs), and industrial Internet of Things (IoT) systems. Existing positioning algorithms using…

Reconfigurable intelligent surface (RIS)-aided localization systems are increasingly recognized for enhancing accuracy in internet of things (IoT) networks. However, prevailing studies tend to either assume a Gaussian distribution for angle…

Tensor decompositions play a crucial role in numerous applications related to multi-way data analysis. By employing a Bayesian framework with sparsity-inducing priors, Bayesian Tensor Ring (BTR) factorization offers probabilistic estimates…

Multiple rigidly attached Inertial Measurement Unit (IMU) sensors provide a richer flow of data compared to a single IMU. State-of-the-art methods follow a probabilistic model of IMU measurements based on the random nature of errors…

Navigating in environments where the GPS signal is unavailable, weak, purposefully blocked, or spoofed has become crucial for a wide range of applications. A prime example is autonomous navigation for drones in indoor environments: to fly…

Representing the environment is a fundamental task in enabling robots to act autonomously in unknown environments. In this work, we present confidence-rich mapping (CRM), a new algorithm for spatial grid-based mapping of the 3D environment.…

Reliably assessing the error in an estimated vehicle position is integral for ensuring the vehicle's safety in urban environments. Many existing approaches use GNSS measurements to characterize protection levels (PLs) as probabilistic upper…

Localization and tracking are critical components of integrated sensing and communication (ISAC) systems, enhancing resource management, beamforming accuracy, and overall system reliability through precise sensing. Due to the high path loss…