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Rigid Body Localization via Gaussian Belief Propagation with Quadratic Angle Approximation
Niclas Führling, Hyeon Seok Rou, Giuseppe Thadeu Freitas de Abreu +2
Gaussian belief propagation (GaBP) is a technique that relies on linearized error and input output models to yield low-complexity solutions to complex estimation problems, which ha…
SMDS-based Rigid Body Localization
Niclas Führling, Giuseppe Abreu, David González G. +1
We consider a novel rigid body localization (RBL) method, based only on a set of measurements of the distances, as well as the angles between sensors of the vehicle to the anchor l…
Rigid Body Localization and Tracking for 6G V2X: Algorithms, Applications, and Road to Adoption
Niclas Führling, Hyeon Seok Rou, Giuseppe Thadeu Freitas de Abreu +3
Vehicle-to-everything (V2X) perception refers to a suite of technologies that empower vehicles to sense their environment and communicate with other entities, including surrounding…
Fundamental Limits of Rigid Body Localization
Niclas Führling, Ivan Alexander Morales Sandoval, Giuseppe Thadeu Freitas de Abreu +3
We consider a novel and general approach to easily compute the Cramér-Rao Lower Bounds (CRLBs) of rigid body localization (RBL) problem using arbitrary types of information. To tha…
Robust Egoistic Rigid Body Localization
Niclas Führling, Giuseppe Thadeu Freitas de Abreu, David González G. +1
We consider a robust and self-reliant (or "egoistic") variation of the rigid body localization (RBL) problem, in which a primary rigid body seeks to estimate the pose (i.e., locati…
6D Rigid Body Localization and Velocity Estimation via Gaussian Belief Propagation
Niclas Führling, Volodymyr Vizitiv, Kuranage Roche Rayan Ranasinghe +4
We propose a novel message-passing solution to the sixth-dimensional (6D) moving rigid body localization (RBL) problem, in which the three-dimensional (3D) translation vector and r…