相关论文: Loosely Coupled Factor Graph Optimization for Pseu…

Indoor navigation remains a critical challenge for people with visual impairments. The current solutions mainly rely on infrastructure-based systems, which limit their ability to navigate safely in dynamic environments. We propose a novel…

Reconfigurable intelligent surface (RIS) is an excellent use case for line-of-sight (LOS) based technologies such as free-space optical (FSO) communications. In this paper, we analyze the performance of RIS-empowered FSO (RISE-FSO) systems…

Optimizing robot poses and the map simultaneously has been shown to provide more accurate SLAM results. However, for non-feature based SLAM approaches, directly optimizing all the robot poses and the whole map will greatly increase the…

The quality of graph-structured data is fundamental to the success of modern graph analysis techniques such as Graph Neural Networks (GNNs). However, real-world graph data is often suboptimal, suffering from issues such as noise and…

To provide backup and augmentation to global navigation satellite system (GNSS), Doppler shift from Low Earth Orbit (LEO) satellites can be employed as signals of opportunity (SOP) for position, navigation and timing (PNT). Since the…

In this work, we propose a factor graph optimization (FGO) framework to simultaneously solve the calibration problem for Ultra-WideBand (UWB) anchors and the robot localization problem. Calibrating UWB anchors manually can be time-consuming…

Factor graph optimization serves as a fundamental framework for robotic perception, enabling applications such as pose estimation, simultaneous localization and mapping (SLAM), structure-from-motion (SfM), and situational awareness.…

3D Gaussian Splatting (3DGS) has demonstrated breakthrough performance in novel view synthesis and real-time rendering. Nevertheless, its practicality is constrained by the high memory cost due to a huge number of Gaussian points. Many…

Low-altitude Gaussian splatting (LAGS) facilitates 3D scene reconstruction by aggregating aerial images from distributed drones. However, as LAGS prioritizes maximizing reconstruction quality over communication throughput, existing…

The paper discusses the increasing use of hybridized sensor information for GNSS-based localization and navigation, including the use of 3D map-aided GNSS positioning and terrestrial systems based on different geometric measurement…

Federated Learning (FL) is a distributed machine learning setting that requires multiple clients to collaborate on training a model while maintaining data privacy. The unaddressed inherent sparsity in data and models often results in overly…

In this paper, we deal with low-complexity near-optimal detection/equalization in large-dimension multiple-input multiple-output inter-symbol interference (MIMO-ISI) channels using message passing on graphical models. A key contribution in…

3D Gaussian Splatting (3DGS) has recently gained popularity as a faster alternative to Neural Radiance Fields (NeRFs) in 3D reconstruction and view synthesis methods. Leveraging the spatial information encoded in 3DGS, this work proposes…

In this work, we research and evaluate multiple pose-graph fusion strategies for vehicle localization. We focus on fusing a single absolute localization system, i.e. automotive-grade Global Navigation Satellite System (GNSS) at 1 Hertz,…

We consider uplink frugal simultaneous localization and mapping (SLAM) in phase-coherent distributed MIMO (D-MIMO) systems, where a network of spatially separated single-antenna access points (APs) coherently receives narrowband,…

The emergence of mega-constellations of interconnected satellites has a major impact on the integration of cellular wireless and non-terrestrial networks, while simultaneously offering previously inconceivable data gathering capabilities.…

This paper proposes a novel liquid intelligent metasurface (LIM)-assisted downlink multi-user multiple-input single-output (MISO) system, wherein both the base station (BS) and the metasurface are respectively equipped with fluid antennas…

This paper presents an efficient method for updating particles in a particle filter (PF) to address the position estimation problem when dealing with sharp-peaked likelihood functions derived from multiple observations. Sharp-peaked…

Recent advancements in space technology have equipped low Earth Orbit (LEO) satellites with the capability to perform complex functions and run AI applications. Federated Learning (FL) on LEO satellites enables collaborative training of a…

The limited or no protection for civilian Global Navigation Satellite System (GNSS) signals makes spoofing attacks relatively easy. With modern mobile devices often featuring network interfaces, state-of-the-art signals of opportunity (SOP)…