{"id":11664,"date":"2025-01-31T10:17:04","date_gmt":"2025-01-31T09:17:04","guid":{"rendered":"https:\/\/www.uni.lu\/research-en\/?post_type=events&#038;p=11664"},"modified":"2025-03-03T13:13:22","modified_gmt":"2025-03-03T12:13:22","slug":"doctoral-defence-meisam-kabiri","status":"publish","type":"events","link":"https:\/\/www.uni.lu\/research-en\/events\/doctoral-defence-meisam-kabiri\/","title":{"rendered":"Doctoral Defence: Meisam KABIRI"},"content":{"rendered":"\n<section class=\"py-0 wp-block-unilux-blocks-free-section section\"><div class=\"container xl:max-w-screen-xl\"><div class=\"wp-block-unilux-blocks-spacer is-spacer-size-md\"><\/div>\n\n\n<ul class=\"wp-block-unilux-blocks-custom-buttons btn-list\"><li class=\"wp-block-unilux-blocks-custom-button\"    aria-disabled=\"false\"\n    >\n    <a\n        role=\"link\"\n        aria-disabled=\"false\"\n                    href=\"https:\/\/www.uni.lu\/research-en\/calendar?post_type=events&#038;p=11664&#038;calendar\"\n                target=\"_self\"\n        class=\"btn btn--secondary\"\n            >Add to calendar<\/a>\n<\/li>\n<\/ul>\n\n\n<div class=\"wp-block-unilux-blocks-spacer is-spacer-size-md\"><\/div>\n\n\n<p>The <a href=\"https:\/\/www.uni.lu\/research-en\/doctoral-education\/dsse\/\">Doctoral School in Science and Engineering<\/a> is happy to invite you to Meisam KABIRI\u2019s defence entitled<\/p>\n\n\n\n<h2 class=\"has-text-align-left wp-block-unilux-blocks-heading\"        id=\"5g-enhanced-indoor-uav-localization-and-slam-through-sensor-fusion\"\n    >\n5G-Enhanced Indoor UAV Localization and SLAM Through Sensor Fusion<\/h2>\n\n\n\n<p><strong>Supervisor<\/strong>: <a href=\"https:\/\/www.uni.lu\/snt-en\/people\/holger-voos\/\">Prof Holger VOOS<\/a><\/p>\n\n\n\n<p>Indoor localization and navigation for Unmanned Aerial Vehicles (UAVs) remains challenging due to GPS denial and the limitations of traditional visual-inertial systems. The emergence of 5G networks offers new opportunities for precise indoor positioning, but their integration with existing UAV navigation systems remains unexplored. This thesis systematically investigates the feasibility of integrating 5G Time-of-Arrival (ToA) measurements with advanced sensor fusion techniques to enhance indoor localization and SLAM (Simultaneous Localization and Mapping). Two approaches are proposed for localization: a real-time Error State Kalman Filter (ESKF) framework and a Pose Graph Optimization (PGO) method. The study leverages the EuRoC MAV dataset, augmented with simulated 5G ToA measurements, to evaluate system performance across diverse indoor scenarios and 5G base station densities. Using just IMU and ToA measurements as a minimal sensor setup, both proposed methods demonstrate significant improvements in pose estimation accuracy and drift reduction<\/p>\n\n\n\n<p>Additionally, a unified SLAM framework is developed to incorporate 5G ToA measurements alongside visual-inertial data. This integration provides three crucial advantages: global localization and mapping, resolution of scale ambiguity inherent in monocular SLAM, and enhanced system resilience in challenging conditions where traditional visual-inertial methods may fail. Building on visual-inertial datasets collected in Aerolab augmented with simulated 5G ToA measurements, the results demonstrate that this integration significantly enhances navigation capabilities, particularly in minimal sensor configurations. This research bridges the gap between visual-inertial and 5G radio-frequency-based approaches, establishing realistic baselines for understanding the practical impact of 5G technology on robotic localization and navigation.<\/p>\n<\/div><\/section>\n","protected":false},"excerpt":{"rendered":"<p>Doctoral defence <\/p>\n","protected":false},"author":213,"featured_media":7166,"parent":0,"menu_order":0,"comment_status":"open","ping_status":"closed","template":"","format":"standard","meta":{"featured_image_focal_point":{"x":0.55,"y":0.39},"show_featured_caption":false,"ulux_newsletter_groups":"","uluxPostTitle":"","uluxPrePostTitle":"","_trash_the_other_posts":false,"_price":"","_stock":"","_tribe_ticket_header":"","_tribe_default_ticket_provider":"","_tribe_ticket_capacity":"0","_ticket_start_date":"","_ticket_end_date":"","_tribe_ticket_show_description":"","_tribe_ticket_show_not_going":false,"_tribe_ticket_use_global_stock":"","_tribe_ticket_global_stock_level":"","_global_stock_mode":"","_global_stock_cap":"","_tribe_rsvp_for_event":"","_tribe_ticket_going_count":"","_tribe_ticket_not_going_count":"","_tribe_tickets_list":"[]","_tribe_ticket_has_attendee_info_fields":false,"event_start_date":"2025-03-13 14:00:00","event_end_date":"2025-03-13 17:00:00","event_speaker_name":"Meisam KABIRI","event_speaker_link":"https:\/\/www.uni.lu\/snt-en\/people\/meisam-kabiri\/","event_is_online":false,"event_location":"JFK (Kirchberg) - Room E004\/E005 (Nancy\/Metz)","event_street":"29, Avenue J.F Kennedy","event_location_link":"https:\/\/www.uni.lu\/en\/about\/campuses\/kirchberg-campus\/","event_zip_code":"1855","event_city":"Luxembourg","event_country":"Luxembourg"},"events-topic":[286],"events-type":[281,283],"organisation":[220,61,60,59,218],"authorship":[213],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO Premium plugin v22.3 (Yoast SEO v22.3) - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>Doctoral Defence: Meisam KABIRI I Uni.lu<\/title>\n<meta name=\"description\" content=\"Doctoral defence\" \/>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.uni.lu\/research-en\/events\/doctoral-defence-meisam-kabiri\/\" \/>\n<meta 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