SceneGraphLoc: Cross-Modal Coarse Visual Localization on 3D Scene Graphs

We introduce a novel problem, i.e., the localization of an input image within a multi-modal reference map represented by a database of 3D scene graphs. These graphs comprise multiple modalities, including object-level point clouds, images, attributes, and relationships between objects, offering a lightweight and efficient alternative to conventional methods that rely on extensive image databases. Given the available modalities, the proposed method SceneGraphLoc learns a fixed-sized embedding for each node (i.e., representing an object instance) in the scene graph, enabling effective matching with the objects visible in the input query image. This strategy significantly outperforms other cross-modal methods, even without incorporating images into the map embeddings. When images are leveraged, SceneGraphLoc achieves performance close to that of state-of-the-art techniques depending on large image databases, while requiring three orders-of-magnitude less storage and operating orders-of-magnitude faster. The code will be made public.

Vital Signs Estimation Using a 26 GHz Multi-Beam Communication Testbed

This paper presents a novel pipeline for vital sign monitoring using a 26 GHz multi-beam communication testbed. In context of Joint Communication and Sensing (JCAS), the advanced communication capability at millimeter-wave bands is comparable to the radio resource of radars and is promising to sense the surrounding environment. Being able to communicate and sense the vital sign of humans present in the environment will enable new vertical services of telecommunication, i.e., remote health monitoring. The proposed processing pipeline leverages spatially orthogonal beams to estimate the vital sign - breath rate and heart rate - of single and multiple persons in static scenarios from the raw Channel State Information samples. We consider both monostatic and bistatic sensing scenarios. For monostatic scenario, we employ the phase time-frequency calibration and Discrete Wavelet Transform to improve the performance compared to the conventional Fast Fourier Transform based methods. For bistatic scenario, we use K-means clustering algorithm to extract multi-person vital signs due to the distinct frequency-domain signal feature between single and multi-person scenarios. The results show that the estimated breath rate and heart rate reach below 2 beats per minute (bpm) error compared to the reference captured by on-body sensor for the single-person monostatic sensing scenario with body-transceiver distance up to 2 m, and the two-person bistatic sensing scenario with BS-UE distance up to 4 m. The presented work does not optimize the OFDM waveform parameters for sensing; it demonstrates a promising JCAS proof-of-concept in contact-free vital sign monitoring using mmWave multi-beam communication systems.

Volumetric Semantically Consistent 3D Panoptic Mapping

We introduce an online 2D-to-3D semantic instance mapping algorithm aimed at generating comprehensive, accurate, and efficient semantic 3D maps suitable for autonomous agents in unstructured environments. The proposed approach is based on a Voxel-TSDF representation used in recent algorithms. It introduces novel ways of integrating semantic prediction confidence during mapping, producing semantic and instance-consistent 3D regions. Further improvements are achieved by graph optimization-based semantic labeling and instance refinement. The proposed method achieves accuracy superior to the state of the art on public large-scale datasets, improving on a number of widely used metrics. We also highlight a downfall in the evaluation of recent studies: using the ground truth trajectory as input instead of a SLAM-estimated one substantially affects the accuracy, creating a large gap between the reported results and the actual performance on real-world data.

Enhancing Vital Sign Estimation Performance of FMCW MIMO Radar by Prior Human Shape Recognition

Radio technology enabled contact-free human posture and vital sign estimation is promising for health monitoring. Radio systems at millimeter-wave (mmWave) frequencies advantageously bring large bandwidth, multi-antenna array and beam steering capability. \textit{However}, the human point cloud obtained by mmWave radar and utilized for posture estimation is likely to be sparse and incomplete. Additionally, human's random body movements deteriorate the estimation of breathing and heart rates, therefore the information of the chest location and a narrow radar beam toward the chest are demanded for more accurate vital sign estimation. In this paper, we propose a pipeline aiming to enhance the vital sign estimation performance of mmWave FMCW MIMO radar. The first step is to recognize human body part and posture, where we exploit a trained Convolutional Neural Networks (CNN) to efficiently process the imperfect human form point cloud. The CNN framework outputs the key point of different body parts, and was trained by using RGB image reference and Augmentative Ellipse Fitting Algorithm (AEFA). The next step is to utilize the chest information of the prior estimated human posture for vital sign estimation. While CNN is initially trained based on the frame-by-frame point clouds of human for posture estimation, the vital signs are extracted through beamforming toward the human chest. The numerical results show that this spatial filtering improves the estimation of the vital signs in regard to lowering the level of side harmonics and detecting the harmonics of vital signs efficiently, i.e., peak-to-average power ratio in the harmonics of vital signal is improved up to 0.02 and 0.07dB for the studied cases.

Intelligent Blockage Recognition using Cellular mmWave Beamforming Data: Feasibility Study

Joint Communication and Sensing (JCAS) is envisioned for 6G cellular networks, where sensing the operation environment, especially in presence of humans, is as important as the high-speed wireless connectivity. Sensing, and subsequently recognizing blockage types, is an initial step towards signal blockage avoidance. In this context, we investigate the feasibility of using human motion recognition as a surrogate task for blockage type recognition through a set of hypothesis validation experiments using both qualitative and quantitative analysis (visual inspection and hyperparameter tuning of deep learning (DL) models, respectively). A surrogate task is useful for DL model testing and/or pre-training, thereby requiring a low amount of data to be collected from the eventual JCAS environment. Therefore, we collect and use a small dataset from a 26 GHz cellular multi-user communication device with hybrid beamforming. The data is converted into Doppler Frequency Spectrum (DFS) and used for hypothesis validations. Our research shows that (i) the presence of domain shift between data used for learning and inference requires use of DL models that can successfully handle it, (ii) DFS input data dilution to increase dataset volume should be avoided, (iii) a small volume of input data is not enough for reasonable inference performance, (iv) higher sensing resolution, causing lower sensitivity, should be handled by doing more activities/gestures per frame and lowering sampling rate, and (v) a higher reported sampling rate to STFT during pre-processing may increase performance, but should always be tested on a per learning task basis.

Multibeam Sparse Tiled Planar Array for Joint Communication and Sensing

Multibeam analog arrays have been proposed for millimeter-wave joint communication and sensing (JCAS). We study multibeam planar arrays for JCAS, providing time division duplex communication and full-duplex sensing with steerable beams. In order to have a large aperture with a narrow beamwidth in the radiation pattern, we propose to design a sparse tiled planar array (STPA) aperture with affordable number of phase shifters. The modular tiling and sparse design of the array are non-convex optimization problems, however, we exploit the fact that the more irregularity of the antenna array geometry, the less the side lobe level. We propose to first solve the optimization by the maximum entropy in the phase centers of tiles in the array; then we perform sparse subarray selection leveraging the geometry of the sunflower array. While maintaining the same spectral efficiency in the communication link as conventional uniform planar array (CUPA), the STPA improves angle of arrival estimation when the line-of-sight path is dominant, e.g., the STPA with 125 elements distinguishes two adjacent targets with 20$^\circ$ difference in the proximity of boresight whereas CUPA cannot. Moreover, the STPA has a 40$\%$ shorter blockage time compared to the CUPA when a blocker moves in the elevation angles.

Contact-Free Multi-Target Tracking Using Distributed Massive MIMO-OFDM Communication System: Prototype and Analysis

Wireless-based human activity recognition has become an essential technology that enables contact-free human-machine and human-environment interactions. In this paper, we consider contact-free multi-target tracking (MTT) based on available communication systems. A radar-like prototype is built upon a sub-6 GHz distributed massive multiple-input and multiple-output (MIMO) orthogonal frequency-division multiplexing communication system. Specifically, the raw channel state information (CSI) is calibrated in the frequency and antenna domain before being used for tracking. Then the targeted CSIs reflected or scattered from the moving pedestrians are extracted. To evade the complex association problem of distributed massive MIMO-based MTT, we propose to use a complex Bayesian compressive sensing (CBCS) algorithm to estimate the targets' locations based on the extracted target-of-interest CSI signal directly. The estimated locations from CBCS are fed to a Gaussian mixture probability hypothesis density filter for tracking. A multi-pedestrian tracking experiment is conducted in a room with size of 6.5 m$\times$10 m to evaluate the performance of the proposed algorithm. According to experimental results, we achieve 75th and 95th percentile accuracy of 12.7 cm and 18.2 cm for single-person tracking and 28.9 cm and 45.7 cm for multi-person tracking, respectively. Furthermore, the proposed algorithm achieves the tracking purposes in real-time, which is promising for practical MTT use cases.

Guard Beam: Protecting mmWave Communication through In-Band Early Blockage Prediction

Human blockage is one of the main challenges for mmWave communication networks in dynamic environments. The shadowing by a human body results in significant received power degradation and could occur abruptly and frequently. A shadowing period of hundred milliseconds might interrupt the communication and cause significant data loss, considering the huge bandwidth utilized in mmWave communications. An even longer shadowing period might cause a long-duration link outage. Therefore, a blockage prediction mechanism has to be taken to detect the moving blocker within the vicinity of mmWave links. By detecting the potential blockage as early as possible, a user equipment can anticipate by establishing a new connection and performing beam training with an alternative base station before shadowing happens. This paper proposes an early moving blocker detection mechanism by leveraging an extra guard beam to protect the main communication beam. The guard beam is intended to sense the environment by expanding the field of view of a base station. The blockage can be detected early by observing received signal fluctuation resulting from the blocker's presence within the field of view. We derive a channel model for the pre-shadowing event, design a moving blockage detection algorithm for the guard beam, and evaluate the performance of the guard beam theoretically and experimentally based on the measurement campaign using our mmWave testbed. Our results demonstrate that the guard beam can extend the detection range and predict the blockage up to 360 ms before the shadowing occurs.