Abstract: Systems and methods are described for combining sensor data obtained by a mobile robot. A system can obtain first sensor data from one or more first sensors of a robot. The system can determine a distance between the robot and at least a portion of the environment based on the first sensor data. For example, the distance may be a depth from a depth map. The system can obtain second sensor data from one or more second sensors of the robot. The system can combine a first portion of the second sensor data and a second portion of the second sensor data based on the distance. For example, the system can use the distance to determine a seam for combination of the first image and the second image. The system can instruct output of a user interface based on the combination.

Abstract: A radio base station and a method therein are provided for determining where in a cell a UE, being served by the radio base station, is located. The method includes receiving at least a first and subsequently a second Reference Signal Received Power (RSRP) value from the UE, and comparing the received first and second RSRP values. The method further includes selecting a first threshold value based on the comparison indicating increasing RSRP values corresponding to the UE moving towards a cell-center area, or selecting a second threshold value based on the comparison indicating decreasing RSRP values corresponding to the UE moving towards a cell-edge area. Further, the method includes determining whether the UE is located in the cell-center area or the cell-edge area using the selected threshold value.

Abstract: A radio base station and a method therein are provided for determining where in a cell a UE, being served by the radio base station, is located. The method includes receiving at least a first and subsequently a second Reference Signal Received Power (RSRP) value from the UE, and comparing the received first and second RSRP values. The method further includes selecting a first threshold value based on the comparison indicating increasing RSRP values corresponding to the UE moving towards a cell-centre area, or selecting a second threshold value based on the comparison indicating decreasing RSRP values corresponding to the UE moving towards a cell-edge area. Further, the method includes determining whether the UE is located in the cell-centre area or the cell-edge area using the selected threshold value.