相关论文: Direct Multipath-Based SLAM

Sensing is an integral part of 6G and beyond systems, providing exceptional environmental perception along with communication. Radio frequency (RF)-based sensing often relies on simplified geometric assumptions (e.g., point scatterers or…

This paper surveys the state-of-the-art in the nexus of SLAM and Wireless Communications, attributing the bidirectional impact of each with a focus on visual SLAM (V-SLAM) integration. We provide an overview of key concepts related to…

The millimeter-wave (mmWave) communication technology, which employs large-scale antenna arrays, enables inherent sensing capabilities. Simultaneous localization and mapping (SLAM) can utilize channel multipath angle estimates to realize…

Simultaneous localization and mapping (SLAM) is paramount for unmanned systems to achieve self-localization and navigation. It is challenging to perform SLAM in large environments, due to sensor limitations, complexity of the environment,…

This paper presents a factor graph formulation and particle-based sum-product algorithm (SPA) for robust sequential localization in multipath-prone environments. The proposed algorithm jointly performs data association, sequential…

We investigate a scenario where a chaser spacecraft or satellite equipped with a monocular camera navigates in close proximity to a target spacecraft. The satellite's primary objective is to construct a representation of the operational…

State-of-the-art device-free localization systems infer presence and location of users based on received signal strength measurements of line-of-sight links in wireless networks. In this letter, we propose to enhance device-free…

SLAM (Simultaneous Localization And Mapping) seeks to provide a moving agent with real-time self-localization. To achieve real-time speed, SLAM incrementally propagates position estimates. This makes SLAM fast but also makes it vulnerable…

The intrinsic geometric connections between millimeter-wave (mmWave) signals and the propagation environment can be leveraged for simultaneous localization and mapping (SLAM) in 5G and beyond networks. However, estimated channel parameters…

Device localization and radar-like mapping are at the heart of integrated sensing and communication, enabling not only new services and applications, but can also improve communication quality with reduced overheads. These forms of sensing…

Simultaneous localization and mapping (SLAM) has been richly researched in past years particularly with regard to range-based or visual-based sensors. Instead of deploying dedicated devices that use visual features, it is more pragmatic to…

Simultaneous localization and mapping (SLAM) plays a critical role in integrated sensing and communication (ISAC) systems for sixth-generation (6G) millimeter-wave (mmWave) networks, enabling environmental awareness and precise user…

The current optimization approaches of construction machinery are mainly based on internal sensors. However, the decision of a reasonable strategy is not only determined by its intrinsic signals, but also very strongly by environmental…

In this paper, we study the three-dimensional (3D) simultaneous localization and mapping (SLAM) problem in complex outdoor and indoor environments based only on millimeter-wave (mmWave) wireless communication signals. Firstly, we propose a…

Opportunistic navigation using cellular signals is appealing for scenarios where other navigation technologies face challenges. In this paper, long-term evolution (LTE) downlink signals from two neighboring commercial base stations (BS) are…

Radio frequency (RF) signal-based localization using modern cellular networks has emerged as a promising solution to accurately locate objects in challenging environments. One of the most promising solutions for situations involving…

Location awareness is a key factor for a wealth of wireless indoor applications. Its provision requires the careful fusion of diverse information sources. For agents that use radio signals for localization, this information may either come…

Efficient multi-agent 3D mapping is essential for robotic teams operating in unknown environments, but dense representations hinder real-time exchange over constrained communication links. In multi-agent Simultaneous Localization and…

Simultaneous localization and mapping (SLAM) is a key technology that provides user equipment (UE) tracking and environment mapping services, enabling the deep integration of sensing and communication. The millimeter-wave (mmWave)…

Millimeter-wave (mmWave) cloud radio access networks (CRANs) provide new opportunities for accurate cooperative localization, in which large bandwidths, large antenna arrays, and increased densities of base stations allow for their…