Related papers: mmWave Simultaneous Localization and Mapping Using…
We propose a filter for piecewise affine state-space (PWASS) models. In each filtering recursion, the true filtering posterior distribution is a mixture of truncated normal distributions. The proposed filter approximates the mixture with a…
Millimeter-wave (mmWave) communication is a promising technology to cope with the expected exponential increase in data traffic in 5G networks. mmWave networks typically require a very dense deployment of mmWave base stations (mmBS). To…
Precise indoor localization of moving targets is a challenging activity which cannot be easily accomplished without combining different sources of information. In this sense, the combination of different data sources with an appropriate…
With the severe spectrum shortage in conventional cellular bands, millimeter wave (mmW) frequencies between 30 and 300 GHz have been attracting growing attention as a possible candidate for next-generation micro- and picocellular wireless…
We propose a probabilistic filtering method which fuses joint measurements with depth images to yield a precise, real-time estimate of the end-effector pose in the camera frame. This avoids the need for frame transformations when using it…
We consider the problem of randomly choosing the sensors of a linear time-invariant dynamical system subject to process and measurement noise. We sample the sensors independently and from the same distribution. We measure the performance of…
State estimation in the presence of uncertain or data-driven noise distributions remains a critical challenge in control and robotics. Although the Kalman filter is the most popular choice, its performance degrades significantly when…
The kinematics of many systems encountered in robotics, mechatronics, and avionics are naturally posed on homogeneous spaces; that is, their state lies in a smooth manifold equipped with a transitive Lie group symmetry. This paper proposes…
Data assimilation is the task to combine evolution models and observational data in order to produce reliable predictions. In this paper, we focus on ensemble-based recursive data assimilation problems. Our main contribution is a hybrid…
This paper presents an approach to tackle the problem of tram localization through utilizing a custom processing of Global Navigation Satellite System (GNSS) observables and the track map. The method is motivated by suboptimal performance…
5G New Radio Time of Arrival (ToA) data has the potential to revolutionize indoor localization for micro aerial vehicles (MAVs). However, its performance under varying network setups, especially when combined with IMU data for real-time…
In this work we address the problem of simultaneous multi-frequency detection of extragalactic point sources in maps of the Cosmic Microwave Background. We apply a new linear filtering technique, the so called `matched matrix filters', that…
In a wireless sensor network, data from various sensors are gathered to estimate the system-state of the process system. However, adversaries aim at distorting the system-state estimate, for which they may infiltrate sensors or position…
Amplitude filtering is concerned with identifying basis-states in a superposition whose amplitudes are greater than a specified threshold; probability filtering is defined analogously for probabilities. Given the scarcity of qubits, the…
Millimeter-wave (mmWave) communication systems rely on narrow beams for achieving sufficient receive signal power. Adjusting these beams is typically associated with large training overhead, which becomes particularly critical for…
The millimeter wave (mmWave) bands are likely to play a significant role in next generation cellular systems due to the possibility of very high throughput thanks to the availability of massive bandwidth and high-dimensional antennas.…
Ensemble filters implement sequential Bayesian estimation by representing the probability distribution by an ensemble mean and covariance. Unbiased square root ensemble filters use deterministic algorithms to produce an analysis (posterior)…
Accurate estimation of the position of network nodes is essential, e.g., in localization, geographic routing, and vehicular networks. Unfortunately, typical positioning techniques based on ranging or on velocity and angular measurements are…
Transmission electron microscopes (TEMs) enable atomic-scale imaging but suffer from aberrations caused by lens imperfections and environmental conditions, reducing image quality. These aberrations can be compensated by adjusting…
In preparation for the era of the time-domain astronomy with upcoming large-scale surveys, we propose a state-space representation of a multivariate damped random walk process as a tool to analyze irregularly-spaced multi-filter light…