Related papers: Analytic solutions to two quaternion attitude esti…
We consider a convex optimization problem with many linear inequality constraints. To deal with a large number of constraints, we provide a penalty reformulation of the problem, where the penalty is a variant of the one-sided Huber loss…
We address the challenge of estimation in the context of constant linear effect models with dense functional responses. In this framework, the conditional expectation of the response curve is represented by a linear combination of…
Consider a rectangular matrix describing some type of communication or transportation between a set of origins and a set of destinations, or a classification of objects by two attributes. The problem is to infer the entries of the matrix…
This paper introduces two novel nonlinear stochastic attitude estimators developed on the Special Orthogonal Group \mathbb{SO}\left(3\right) with the tracking error of the normalized Euclidean distance meeting predefined transient and…
Outlier-robust estimation is a fundamental problem and has been extensively investigated by statisticians and practitioners. The last few years have seen a convergence across research fields towards "algorithmic robust statistics", which…
Pose estimation is a widely explored problem, enabling many robotic tasks such as grasping and manipulation. In this paper, we tackle the problem of pose estimation for objects that exhibit rotational symmetry, which are common in man-made…
In this paper, we consider gradient-type methods for convex positively homogeneous optimization problems with relative accuracy. An analogue of the accelerated universal gradient-type method for positively homogeneous optimization problems…
In this paper, we investigate the matrix estimation problem in the multi-response regression model with measurement errors. A nonconvex error-corrected estimator based on a combination of the amended loss function and the nuclear norm…
We present a fast and accurate solution to the perspective $n$-points problem, by way of a new approach to the n=4 case. Our solution hinges on a novel separation of variables: given four 3D points and four corresponding 2D points on the…
The current data explosion poses great challenges to the approximate aggregation with an efficiency and accuracy. To address this problem, we propose a novel approach to calculate the aggregation answers with a high accuracy using only a…
A minimal solution using two affine correspondences is presented to estimate the common focal length and the fundamental matrix between two semi-calibrated cameras - known intrinsic parameters except a common focal length. To the best of…
This paper investigates the problem of efficient computation of physically consistent multi-contact behaviors. Recent work showed that under mild assumptions, the problem could be decomposed into simpler kinematic and centroidal dynamic…
We introduce a general constructive setting of the density ratio estimation problem as a solution of a (multidimensional) integral equation. In this equation, not only its right hand side is known approximately, but also the integral…
Closed-loop attitude steering can be used to implement a non-standard attitude maneuver by using a conventional attitude control system to track a non-standard attitude profile. The idea has been employed to perform zero-propellant…
Positivity violations, which occur when some subgroups either always or never receive a treatment of interest, pose significant challenges for causal effect estimation with observational data. Recent balancing weight methods have proved to…
The paper proposes a technique to estimate the angular velocity of a rigid body from vector measurements. Compared to the approaches presented in the literature, it does not use attitude information nor rate gyros as inputs. Instead, vector…
Line features are valid complements for point features in man-made environments. 3D-2D constraints provided by line features have been widely used in Visual Odometry (VO) and Structure-from-Motion (SfM) systems. However, how to accurately…
Effective features can improve the performance of a model, which can thus help us understand the characteristics and underlying structure of complex data. Previous feature selection methods usually cannot keep more local structure…
Motivated by drone autonomous navigation applications we address a novel problem of velocity-aided attitude estimation by combining two linear velocity components measured in a body-fixed frame and a linear velocity component measured in an…
In this paper, we analyze the orientation estimation problem using inertial measurement units. Many estimation algorithms suffer degraded performance when accelerations other than gravity affect the accelerometer. We show that linear…