Related papers: Precise Computation of Position Accuracy in GNSS S…
Autonomous unmanned aerial vehicle (UAV) inertial navigation exhibits an extreme dependency on the availability of global navigation satellite systems (GNSS) signals, without which it incurs in a slow but unavoidable position drift that may…
Accuracy-driven computation is a strategy widely used in exact-decisions number types for robust geometric algorithms. This work provides an overview on the usage of error bounds in accuracy-driven computation, compares different approaches…
The computational complexity of some depths that satisfy the projection property, such as the halfspace depth or the projection depth, is known to be high, especially for data of higher dimensionality. In such scenarios, the exact depth is…
The study addresses the problem of precision in floating-point (FP) computations. A method for estimating the errors which affect intermediate and final results is proposed and a summary of many software simulations is discussed. The basic…
This paper deals with robust regression and subspace estimation and more precisely with the problem of minimizing a saturated loss function. In particular, we focus on computational complexity issues and show that an exact algorithm with…
Registering accurately point clouds from a cheap low-resolution sensor is a challenging task. Existing rigid registration methods failed to use the physical 3D uncertainty distribution of each point from a real sensor in the dynamic…
Neural Networks (NNs) can provide major empirical performance improvements for robotic systems, but they also introduce challenges in formally analyzing those systems' safety properties. In particular, this work focuses on estimating the…
We propose a method to enhance 3D Gaussian Splatting (3DGS)~\cite{Kerbl2023}, addressing challenges in initialization, optimization, and density control. Gaussian Splatting is an alternative for rendering realistic images while supporting…
Approximate computing offers promising energy efficiency benefits for error-tolerant applications, but discovering optimal approximations requires extensive design space exploration (DSE). Predicting the accuracy of circuits composed of…
Gaussian mixture filters for nonlinear systems usually rely on severe approximations when calculating mixtures in the prediction and filtering step. Thus, offline approximations of noise densities by Gaussian mixture densities to reduce the…
In the real world, insufficient information, limited computation resources, and complex problem structures often force an autonomous agent to make a decision in time less than that required to solve the problem at hand completely. Flexible…
Due to their flexibility, Gaussian processes (GPs) have been widely used in nonparametric function estimation. A prior information about the underlying function is often available. For instance, the physical system (computer model output)…
The maximum-marginal-a-posteriori success rate of statistical decision under multivariate Gaussian error distribution on an integer lattice is almost rigorously calculated by using union-bound approximation and Monte Carlo integration.…
Estimation and inference in dynamic discrete choice models often relies on approximation to lower the computational burden of dynamic programming. Unfortunately, the use of approximation can impart substantial bias in estimation and results…
The real-life data have a complex and non-linear structure due to their nature. These non-linearities and the large number of features can usually cause problems such as the empty-space phenomenon and the well-known curse of dimensionality.…
Accurate and reliable navigation is essential for autonomous ground vehicle operations. Standard INS/GNSS fusion relies on GNSS position updates, which provide limited observability of orientation and inertial sensor error states,…
Global Navigation Satellite Systems (GNSS) are integrated into many devices. However, civilian GNSS signals are usually not cryptographically protected. This makes attacks that forge signals relatively easy. Considering modern devices often…
The perception of an Autonomous Driving System (ADS) critically depends on relevant, comprehensive, and diverse datasets to ensure its safety while operating in the environment. Field data collection lacks completeness with respect to the…
Air-bearing platforms for simulating the rotational dynamics of satellites require highly precise ground truth systems. Unfortunately, commercial motion capture systems used for this scope are complex and expensive. This paper shows a novel…
Iterative methods with certified convergence for the computation of Gauss--Jacobi quadratures are described. The methods do not require a priori estimations of the nodes to guarantee its fourth-order convergence. They are shown to be…