arXiv:2507. 21245v2 Announce Type: replace-cross Abstract: An accurate initial heading angle is essential for efficient and safe navigation across diverse domains.
arXiv:2601. 03040v2 Announce Type: replace-cross Abstract: A fundamental requirement for full autonomy is the ability to sustain accurate navigation in the absence of external data, such as GNSS signals or visual information.
arXiv:2607. 05669v1 Announce Type: cross Abstract: Reliable localization in GNSS-denied environments remains a fundamental challenge for intelligent vehicles, as inertial navigation systems accumulate unbounded drift without external correction.
arXiv:2607. 03349v1 Announce Type: cross Abstract: The accuracy of consumer-grade inertial navigation is bottlenecked by the stochastic noise of Micro-Electro-Mechanical Systems (MEMS).
arXiv:2608. 04201v2 Announce Type: replace Abstract: Nonlinear state estimation requires sequentially fusing model-based predictions with noisy measurements.
arXiv:2604. 22896v2 Announce Type: replace-cross Abstract: Indoor positioning is an essential technology for a wide range of applications in GNSS-denied environments, including indoor navigation and IoT systems.
arXiv:2607. 05663v1 Announce Type: cross Abstract: Accurate and robust localization is essential for autonomous mobility systems in real-world environments.
arXiv:2608. 04201v1 Announce Type: new Abstract: State estimation for nonlinear dynamical systems is commonly performed with the Unscented Kalman filter (UKF), which propagates the state moments through deterministic sigma points and reports a posterior covariance at every step.
Learning-based motion planners, despite recent progress, often suffer from temporal inconsistency. Small perturbations across frames can accumulate into unstable trajectories, degrading comfort and safety in closed-loop driving.
arXiv:2609.21000v1 Announce Type: cross Abstract: Spinning frequency-modulated continuous-wave (FMCW) radars have been gaining popularity in autonomous vehicle perception on account of their robustne...
Diff-SPORT is a diffusion-based framework that integrates a generative diffusion prior, maximum a posteriori inference, and Shapley-value attribution to achieve high-fidelity reconstruction of turbulent flows and optimal sensor placement in urban environments. By training the diffusion prior once for a domain, it enables non-linear sensor placement and near-real-time flow reconstruction from sparse measurements, outperforming state-of-the-art methods and running orders of magnitude faster than RANS or LES simulations. The approach also generalizes to experimental passive scalar concentration data, demonstrating up to 57% lower reconstruction error than random sensor placement under extreme sparsity and providing compact, physically interpretable sensor configurations.
arXiv:2608. 16167v1 Announce Type: cross Abstract: High-precision radio map construction is essential for emerging 6G Integrated Sensing and Communication (ISAC) applications, including digital twins and intelligent transportation.
The paper introduces a minimalist visual-inertial odometry system that uses only four downward-facing photodiodes with optical Gabor masks and an IMU to estimate motion for differential-drive robots. By jointly optimizing mask parameters and a Temporal Convolutional Network in a physically-grounded simulator, the model decodes speed from the photodiode signals and combines it with IMU angular speed to produce a continuous planar trajectory. Experiments on a prototype robot across indoor and outdoor terrains show that the system closely follows reference trajectories without real-world fine-tuning.