相关论文: Loosely Coupled Factor Graph Optimization for Pseu…
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…
Feature-based geo-localization relies on associating features extracted from aerial imagery with those detected by the vehicle's sensors. This requires that the type of landmarks must be observable from both sources. This lack of variety of…
Federated learning (FL) has emerged as a solution to deal with the risk of privacy leaks in machine learning training. This approach allows a variety of mobile devices to collaboratively train a machine learning model without sharing the…
Mapping and localization are crucial problems in robotics and autonomous driving. Recent advances in 3D Gaussian Splatting (3DGS) have enabled precise 3D mapping and scene understanding by rendering photo-realistic images. However, existing…
This paper investigates physical-layer key generation (PLKG) in multi-antenna base station systems, by leveraging a fluid antenna system (FAS) to dynamically customize radio environments. Without requiring additional nodes or extensive…
Significant progress has been made in low-light image enhancement with respect to visual quality. However, most existing methods primarily operate in the pixel domain or rely on implicit feature representations. As a result, the intrinsic…
Graphical LASSO (GLASSO) is a widely used method for estimating sparse precision matrices and learning undirected graphical models in high-dimensional settings. Because GLASSO penalizes entries of the precision matrix directly, however, it…
LiDAR-Inertial Odometry (LIO) is widely used for accurate state estimation and mapping which is an essential requirement for autonomous robots. Conventional LIO methods typically rely on formulating constraints from the geometric structure…
Laser inter-satellite links (LISLs) of low Earth orbit (LEO) mega-constellations enable high-capacity backbone connectivity in non-terrestrial networks, but their management is challenged by limited laser communication terminals, mechanical…
Graph Structure Learning (GSL) recently has attracted considerable attentions in its capacity of optimizing graph structure as well as learning suitable parameters of Graph Neural Networks (GNNs) simultaneously. Current GSL methods mainly…
Visual SLAM has regained attention due to its ability to provide perceptual capabilities and simulation test data for Embodied AI. However, traditional SLAM methods struggle to meet the demands of high-quality scene reconstruction, and…
Recently, stochastic geometry has been applied to provide tractable performance analysis for low earth orbit (LEO) satellite networks. However, existing works mainly focus on analyzing the ``coverage probability'', which provides limited…
Distributed optimization aims to leverage the local computation and communication capabilities of each agent to achieve a desired global objective. This paper addresses the distributed pose graph optimization (PGO) problem under non-convex…
We present Selective Non-Gaussian Refinement (SNGR), a SLAM framework that augments iSAM2 with targeted nested sampling on windows where Gaussian approximations are likely to fail. We detect such regions using the condition number of joint…
With the evolution of mobile communication systems toward large-scale arrays, high-frequency operation, and reconfigurable antenna architectures, fluid antenna systems (FAS) operating in the near-field (NF) regime provide new degrees of…
A crucial function for automated vehicle technologies is accurate localization. Lane-level accuracy is not readily available from low-cost Global Navigation Satellite System (GNSS) receivers because of factors such as multipath error and…
Positioning using Global Navigation Satellite Systems (GNSS) typically requires several seconds of continuous signal reception from satellites in Medium Earth Orbit (MEO). This requirement poses challenges for applications where receivers…
Global Navigation Satellite Systems (GNSS) provide the backbone of Positioning, Navigation, and Timing (PNT) but remain vulnerable to interference. Low Earth Orbit (LEO) constellations within Fifth-Generation (5G) Non-Terrestrial Networks…
We present an efficient incremental SLAM back-end that achieves the accuracy of full batch optimization while substantially reducing computational cost. The proposed approach combines two complementary ideas: information-guided gating (IGG)…
This paper introduces LiGSM, a novel LiDAR-enhanced 3D Gaussian Splatting (3DGS) mapping framework that improves the accuracy and robustness of 3D scene mapping by integrating LiDAR data. LiGSM constructs joint loss from images and LiDAR…