Related papers: BLUE: combining correlated estimates of physics ob…
White balancing is a fundamental step in the image processing pipeline. The process involves estimating the chromaticity of the illuminant or light source and using the estimate to correct the image to remove any color cast. Given the…
Measuring an overall autonomy score for a robotic system requires the combination of a set of relevant aspects and features of the system that might be measured in different units, qualitative, and/or discordant. In this paper, we build…
We present a technique for estimating the relative 3D rotation of an RGB image pair in an extreme setting, where the images have little or no overlap. We observe that, even when images do not overlap, there may be rich hidden cues as to…
In this paper, a novel linear algorithm is proposed for state estimation including bad data detection of power systems that are monitored both by conventional and synchrophasor measurements. Both types of data are treated simultaneously and…
Large-scale Gaussian process models are becoming increasingly important and widely used in many areas, such as, computer experiments, stochastic optimization via simulation, and machine learning using Gaussian processes. The standard…
In contrast to conventional robots, accurately modeling the kinematics and statics of continuum robots is challenging due to partially unknown material properties, parasitic effects, or unknown forces acting on the continuous body.…
Evaluating the neutronic state of the whole nuclear core is a very important topic that have strong implication for nuclear core management and for security monitoring. The core state is evaluated using measurements. Usually, part of the…
Measurement uncertainty relations are lower bounds on the errors of any approximate joint measurement of two or more quantum observables. The aim of this paper is to provide methods to compute optimal bounds of this type. The basic method…
State-of-the-art clustering algorithms use heuristics to partition the feature space and provide little insight into the rationale for cluster membership, limiting their interpretability. In healthcare applications, the latter poses a…
The essential of navigation, perception, and decision-making which are basic tasks for intelligent robots, is to estimate necessary system states. Among them, navigation is fundamental for other upper applications, providing precise…
This paper addresses the development of analytical tools for the computation of the moments of random Gram matrices with one side correlation. Such a question is mainly driven by applications in signal processing and wireless communications…
We discuss how to determine and combine upper limits based on observed events and estimated backgrounds with a Bayesian method, when insignificant signals are observed in independent measurements. In addition to some general features…
Accurate platform localization is an integral component of most robotic systems. As these robotic systems become more ubiquitous, it is necessary to develop robust state estimation algorithms that are able to withstand novel and…
We explain in detail how to estimate mean values and assess statistical errors for arbitrary functions of elementary observables in Monte Carlo simulations. The method is to estimate and sum the relevant autocorrelation functions, which is…
Large language models (LLMs) demonstrate advanced reasoning abilities, enabling robots to understand natural language instructions and generate high-level plans with appropriate grounding. However, LLM hallucinations present a significant…
In this work, we investigate four different fusion methods for associating detections to tracklets in multi-object visual tracking. In addition to considering strong cues such as motion and appearance information, we also consider weak cues…
We present ConFusion, an open-source package for online sensor fusion for robotic applications. ConFusion is a modular framework for fusing measurements from many heterogeneous sensors within a moving horizon estimator. ConFusion offers…
An equivalent circuit formulation for power system analysis was demonstrated to improve robustness of Power Flow and enable more generalized modeling, including that for RTUs (Remote Terminal Units) and PMUs (Phasor Measurement Units).…
How can we analyze quantum correlations in large and noisy systems without quantum state tomography? An established method is to measure total angular momenta and employ the so-called spin-squeezing inequalities based on their expectations…
RooFit is a library of C++ classes that facilitate data modeling in the ROOT environment. Mathematical concepts such as variables, (probability density) functions and integrals are represented as C++ objects. The package provides a flexible…