3 papers
cs.RO2025
Global SLAM Using 5G ToA Integration: Performance Analysis with Unknown Base Stations and Loop Closure Alternatives
Meisam Kabiri, Holger Voos
This paper presents a novel approach that integrates 5G Time of Arrival (ToA) measurements into ORB-SLAM3 to enable global localization and enhance mapping capabilities for indoor…
cs.RO2024
A Review of Radio Frequency Based Localization for Aerial and Ground Robots with 5G Future Perspectives
Meisam Kabiri, Claudio Cimarelli, Hriday Bavle +2
Efficient localization plays a vital role in many modern applications of Unmanned Ground Vehicles (UGV) and Unmanned aerial vehicles (UAVs), which would contribute to improved cont…
cs.RO2024
Graph-Based vs. Error State Kalman Filter-Based Fusion Of 5G And Inertial Data For MAV Indoor Pose Estimation
Meisam Kabiri, Claudio Cimarelli, Hriday Bavle +2
5G New Radio Time of Arrival (ToA) data has the potential to revolutionize indoor localization for micro aerial vehicles (MAVs). However, its performance under varying network setu…