Related papers: Variational Filtering with Copula Models for SLAM
In this work we present a rigorous application of the Expectation Maximization algorithm to determine the marginal distributions and the dependence structure in a Gaussian copula model with missing data. We further show how to circumvent a…
We propose a new copula model that can be used with replicated spatial data. Unlike the multivariate normal copula, the proposed copula is based on the assumption that a common factor exists and affects the joint dependence of all…
Copulas are a powerful tool for modeling multivariate distributions as they allow to separately estimate the univariate marginal distributions and the joint dependency structure. However, known parametric copulas offer limited flexibility…
Simultaneous localization and mapping (SLAM) in slowly varying scenes is important for long-term robot task completion. Failing to detect scene changes may lead to inaccurate maps and, ultimately, lost robots. Classical SLAM algorithms…
We present a simultaneous localization and mapping (SLAM) algorithm that is based on radio signals and the association of specular multipath components (MPCs) with geometric features. Especially in indoor scenarios, robust localization from…
Simultaneous Localization and Mapping (SLAM) is one of the key robotics tasks as it tackles simultaneous mapping of the unknown environment defined by multiple landmark positions and localization of the unknown pose (i.e., attitude and…
Simultaneous localization and mapping (SLAM) are essential in numerous robotics applications, such as autonomous navigation. Traditional SLAM approaches infer the metric state of the robot along with a metric map of the environment. While…
Key to effective generic, or "black-box", variational inference is the selection of an approximation to the target density that balances accuracy and speed. Copula models are promising options, but calibration of the approximation can be…
Mobile robots require basic information to navigate through an environment: they need to know where they are (localization) and they need to know where they are going. For the latter, robots need a map of the environment. Using sensors of a…
Monocular vision-based Simultaneous Localization and Mapping (SLAM) is used for various purposes due to its advantages in cost, simple setup, as well as availability in the environments where navigation with satellites is not effective.…
We tackle the problem of multi-task learning with copula process. Multivariable prediction in spatial and spatial-temporal processes such as natural resource estimation and pollution monitoring have been typically addressed using techniques…
Copulas provide an attractive approach for constructing multivariate distributions with flexible marginal distributions and different forms of dependences. Of particular importance in many areas is the possibility of explicitly forecasting…
Multipath-based simultaneous localization and mapping (SLAM) is an emerging paradigm for accurate indoor localization with limited resources. The goal of multipath-based SLAM is to detect and localize radio reflective surfaces to support…
We propose a novel distributional regression model for a multivariate response vector based on a copula process over the covariate space. It uses the implicit copula of a Gaussian multivariate regression, which we call a ``regression…
In this paper we propose a flexible class of multivariate nonlinear non-Gaussian state space models, based on copulas. More precisely, we assume that the observation equation and the state equation are defined by copula families that are…
This paper presents the first application of Gaussian Mixture Copula Models to the statistical modeling of driving scenarios for the safety validation of automated driving systems. Knowledge of the joint probability distribution of scenario…
Cylindrical data frequently arise across various scientific disciplines, including meteorology (e.g., wind direction and speed), oceanography (e.g., marine current direction and speed or wave heights), ecology (e.g., telemetry), and…
The available data in semi-supervised learning usually consists of relatively small sized labeled data and much larger sized unlabeled data. How to effectively exploit unlabeled data is the key issue. In this paper, we write the regression…
Environment perception is a crucial ability for robot's interaction into an environment. One of the first steps in this direction is the combined problem of simultaneous localization and mapping (SLAM). A new method, called G-SLAM, is…
Although the independent censoring assumption is commonly used in survival analysis, it can be violated when the censoring time is related to the survival time, which often happens in many practical applications. To address this issue, we…