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Global Navigation Satellite Systems (GNSS) aided Inertial Navigation System (INS) is a fundamental approach for attaining continuously available absolute vehicle position and full state estimates at high bandwidth. For transportation…
This paper presents a non-cooperative source localization approach based on received signal strength (RSS) and 2D environment map, considering both line-of-sight (LOS) and non-line-of-sight (NLOS) conditions. Conventional localization…
We propose a new learning to rank algorithm, named Weighted Margin-Rank Batch loss (WMRB), to extend the popular Weighted Approximate-Rank Pairwise loss (WARP). WMRB uses a new rank estimator and an efficient batch training algorithm. The…
The important problem of weighted sum rate maximization (WSRM) in a multicellular environment is intrinsically sensitive to channel estimation errors. In this paper, we study ways to maximize the weighted sum rate in a linearly precoded…
We present a method to improve the accuracy of a foot-mounted, zero-velocity-aided inertial navigation system (INS) by varying estimator parameters based on a real-time classification of motion type. We train a support vector machine (SVM)…
Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…
Compared to 2D lanes, real 3D lane data is difficult to collect accurately. In this paper, we propose a novel method for training 3D lanes with only 2D lane labels, called weakly supervised 3D lane detection WS-3D-Lane. By assumptions of…
Feature-based geo-localization relies on associating features extracted from aerial imagery with those detected by the vehicle's sensors. This requires that the type of landmarks must be observable from both sources. This lack of variety of…
In Model Predictive Control (MPC), world models predict the future outcomes of various action proposals, which are then scored to guide the selection of the optimal action. For visuomotor MPC, the score function is a distance metric between…
On the off-the-shelf navigational assistance devices, the localization precision is limited to the signal error of global navigation satellite system (GNSS). During travelling outdoors, the inaccurately localization perplexes visually…
We propose a novel method to enhance the accuracy of the Iterative Closest Point (ICP) algorithm by integrating altitude constraints from a barometric pressure sensor. While ICP is widely used in mobile robotics for Simultaneous…
Let $D$ be an $n \times n$ Euclidean distance matrix (EDM) with embedding dimension $r$; and let $d \in R^n$ be a given vector. In this note, we consider the problem of finding a vector $y \in R^n$, that is closest to d in Euclidean norm,…
Bayesian approaches to variable selection have been widely used for quantitative trait locus (QTL) mapping. The Markov chain Monte Carlo (MCMC) algorithms for that aim are often difficult to be implemented for high-dimensional variable…
Complementary-label learning (CLL) is widely used in weakly supervised classification, but it faces a significant challenge in real-world datasets when confronted with class-imbalanced training samples. In such scenarios, the number of…
Relative vehicle positioning methods can contribute to safer and more efficient autonomous driving by enabling collision avoidance and platooning applications. For full automation, these applications require cm-level positioning accuracy…
In this paper, visible light positioning (VLP) where the receiver adopts a commercial image sensor is considered. We firstly analyze the theoretical limits and error source of the VLP system using image sensor. And then, we develop a VLP…
Place recognition and loop closure detection are challenging for long-term visual navigation tasks. SeqSLAM is considered to be one of the most successful approaches to achieving long-term localization under varying environmental conditions…
Satellite-based positioning system such as GPS often suffers from large amount of noise that degrades the positioning accuracy dramatically especially in real-time applications. In this work, we consider a data-mining approach to enhance…
Visual anomaly detection is common in several applications including medical screening and production quality check. Although a definition of the anomaly is an unknown trend in data, in many cases some hints or samples of the anomaly class…
Accurate camera pose estimation result is essential for visual SLAM (VSLAM). This paper presents a novel pose correction method to improve the accuracy of the VSLAM system. Firstly, the relationship between the camera pose estimation error…