Related papers: Learning landmark geodesics using Kalman ensembles
In this paper, we address the problem of landmark-based visual place recognition. In the state-of-the-art method, accurate object proposal algorithms are first leveraged for generating a set of local regions containing particular landmarks…
We develop a new Riemannian descent algorithm that relies on momentum to improve over existing first-order methods for geodesically convex optimization. In contrast, accelerated convergence rates proved in prior work have only been shown to…
In computational anatomy, the statistical analysis of temporal deformations and inter-subject variability relies on shape registration. However, the numerical integration and optimization required in diffeomorphic registration often lead to…
Navigation solutions suitable for cases when both autonomous robot's pose (\textit{i.e}., attitude and position) and its environment are unknown are in great demand. Simultaneous Localization and Mapping (SLAM) fulfills this need by…
Bayesian linear inverse problems aim to recover an unknown signal from noisy observations, incorporating prior knowledge. This paper analyses a data-dependent method to choose the scale parameter of a Gaussian prior. The method we study…
Given dense image feature correspondences of a non-rigidly moving object across multiple frames, this paper proposes an algorithm to estimate its 3D shape for each frame. To solve this problem accurately, the recent state-of-the-art…
This manuscript derives locally weighted ensemble Kalman methods from the point of view of ensemble-based function approximation. This is done by using pointwise evaluations to build up a local linear or quadratic approximation of a…
We address the visual relocalization problem of predicting the location and camera orientation or pose (6DOF) of the given input scene. We propose a method based on how humans determine their location using the visible landmarks. We define…
A novel approach for vehicle tracking using a hybrid adaptive Kalman filter is proposed. The filter utilizes recurrent neural networks to learn the vehicle's geometrical and kinematic features, which are then used in a supervised learning…
The Extended Kalman Filter (EKF) is both the historical algorithm for multi-sensor fusion and still state of the art in numerous industrial applications. However, it may prove inconsistent in the presence of unobservability under a group of…
We propose a novel landmarks-assisted collaborative end-to-end deep framework for automatic 4D FER. Using 4D face scan data, we calculate its various geometrical images, and afterwards use rank pooling to generate their dynamic images…
Localization in indoor environments is a technique which estimates the robot's pose by fusing data from onboard motion sensors with readings of the environment, in our case obtained by scan matching point clouds captured by a low-cost…
This paper proposes a method for learning continuous control policies for active landmark localization and exploration using an information-theoretic cost. We consider a mobile robot detecting landmarks within a limited sensing range, and…
Multi-robot localization has been a critical problem for robots performing complex tasks cooperatively. In this paper, we propose a decentralized approach to localize a group of robots in a large featureless environment. The proposed…
Nanomechanical resonant sensors are used in mass spectrometry via detection of resonance frequency jumps. There is a fundamental trade-off between detection speed and accuracy. Temporal and size resolution are limited by the resonator…
Unsupervised landmarks discovery (ULD) for an object category is a challenging computer vision problem. In pursuit of developing a robust ULD framework, we explore the potential of a recent paradigm of self-supervised learning algorithms,…
The intersection between classical data assimilation methods and novel machine learning techniques has attracted significant interest in recent years. Here we explore another promising solution in which diffusion models are used to…
Many modern simultaneous localization and mapping (SLAM) techniques rely on sparse landmark-based maps due to their real-time performance. However, these techniques frequently assert that these landmarks are fixed in position over time,…
We establish a universal framework for concentration inequalities based on invariance under diffeomorphism groups. Given a probability measure $\mu$ on a space $E$ and a diffeomorphism $\psi: E \to F$, concentration properties transfer…
Inverse problems for Partial Differential Equations (PDEs) are crucial in numerous applications such as geophysics, biomedical imaging, and material science, where unknown physical properties must be inferred from indirect measurements. In…