相关论文: Tram Positioning with Map-Enabled GNSS Data Reconc…

Accurate localization is crucial for water robotics, yet traditional onboard Global Navigation Satellite System (GNSS) approaches are difficult or ineffective due to signal reflection on the water's surface and its high cost of aquatic GNSS…

This paper presents the implementation of a perceptual system for a mobile robot. The system is designed and installed with modern sensors and multi-point communication channels. The goal is to equip the robot with a high level of…

Simultaneous Localization and Mapping (SLAM) is one of the most important environment-perception and navigation algorithms for computer vision, robotics, and autonomous cars/drones. Hence, high quality and fast mapping becomes a fundamental…

Ensemble methods such as the Ensemble Kalman Filter (EnKF) are widely used for data assimilation in large-scale geophysical applications, as for example in numerical weather prediction (NWP). There is a growing interest for physical models…

The estimation of spatiotemporal data from limited sensor measurements is a required task across many scientific disciplines. The sensor selection problem, which aims to optimize the placement of sensors, leverages innovations in greedy…

The fusion of camera sensor and inertial data is a leading method for ego-motion tracking in autonomous and smart devices. State estimation techniques that rely on non-linear filtering are a strong paradigm for solving the associated…

Maintaining consistent uncertainty estimates in localization systems is crucial as the perceived uncertainty commonly affects high-level system components, such as control or decision processes. A method for constructing an…

In this paper, we investigate the problem of UAV-aided user localization in wireless networks. Unlike the existing works, we do not assume perfect knowledge of the UAV location, hence we not only need to localize the users but also to track…

Standalone Global Navigation Satellite Systems (GNSS) are known to provide positioning accuracy of a few meters in open sky conditions. This accuracy can drop significantly when the line-of-sight (LOS) paths to some GNSS satellites are…

The deployment of Extremely Large-Scale Antenna Arrays for 6G enables radiative near-field sensing but poses significant challenges in terms of hardware complexity and interference. Stacked Intelligent Metasurfaces (SIMs) address these…

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…

Urban navigation using GPS and fish-eye camera suffers from multipath effects in GPS measurements and data association errors in pixel intensities across image frames. We propose a Simultaneous Localization and Mapping (SLAM)-based…

The ground-to-satellite image matching/retrieval was initially proposed for city-scale ground camera localization. This work addresses the problem of improving camera pose accuracy by ground-to-satellite image matching after a coarse…

Traceroutes and geolocation are two essential network measurement tools that aid applications such as network mapping, topology generation, censorship, and Internet path analysis. However, these tools, individually and when combined, have…

The accuracy and reliability of vehicle localization on roads are crucial for applications such as self-driving cars, toll systems, and digital tachographs. To achieve accurate positioning, vehicles typically use global navigation satellite…

Global Navigation Satellite Systems (GNSS) provide precise location, while Real Time Kinematics (RTK) allow mobile receivers (termed rovers), leveraging fixed stations, to correct errors in their Position Navigation and Timing (PNT)…

Currently, self-driving cars rely greatly on the Global Positioning System (GPS) infrastructure, albeit there is an increasing demand for alternative methods for GPS-denied environments. One of them is known as place recognition, which…

This paper describes a novel method for the estimation of the trajectory curve and orientation of a rigid body moving along a railway track. Compared to other recent developments in the literature, the presented approach has the significant…

Cooperative map matching (CMM) uses the Global Navigation Satellite System (GNSS) position information of a group of vehicles to improve the standalone localization accuracy. It has been shown, in our previous work, that the GNSS error can…

This paper considers a networked tracking architecture in 6G integrated sensing and communication (ISAC) systems, where multiple base stations (BSs) cooperatively transmit radio signals and process received echo signals to track multiple…