Related papers: Global and Asymptotically Efficient Localization f…
In this paper, we consider the problem of identifying a linear map from measurements which are subject to intermittent and arbitarily large errors. This is a fundamental problem in many estimation-related applications such as fault…
We know that compressive sensing can establish stable sparse recovery results from highly undersampled data under a restricted isometry property condition. In reality, however, numerous problems are coherent, and vast majority conventional…
This paper studies the problem of estimation from relative measurements in a graph, in which a vector indexed over the nodes has to be reconstructed from pairwise measurements of differences between its components associated to nodes…
An important problem in space-time adaptive detection is the estimation of the large p-by-p interference covariance matrix from training signals. When the number of training signals n is greater than 2p, existing estimators are generally…
We study estimation in the low signal-to-noise ratio (SNR) regime for a broad class of Gaussian latent-variable models, including Gaussian mixtures and orbit recovery problems. We show that, in this regime, the generalized method-of-moments…
Realizing relative localization by leveraging inter-robot local measurements is a challenging problem, especially in the presence of measurement noise. Motivated by this challenge, in this paper we propose a novel and systematic 3-D…
This paper develops several interesting, significant, and interconnected approaches to nonparametric or semi-parametric statistical inferences. The overwhelmingly favoured maximum likelihood estimator (MLE) under parametric model is…
The gold-standard for robustly estimating relative pose through image matching is RANSAC. While RANSAC is powerful, it requires setting the inlier threshold that determines whether the error of a correspondence under an estimated model is…
We address the problem of blind gain and phase calibration of a sensor array from ambient noise. The key motivation is to ease the calibration process by avoiding a complex procedure setup. We show that computing the sample covariance…
We study the problem of high accuracy localization of mobile nodes in a multipath-rich environment where sub-meter accuracies are required. We employ a peer-to-peer framework where the vehicles/nodes can get pairwise multipath-degraded…
Nonparametric density and regression estimators commonly depend on a bandwidth. The asymptotic properties of these estimators have been widely studied when bandwidths are nonstochastic. In practice, however, in order to improve finite…
In this paper, the problem of robust estimation and validation of location-scale families is revisited. The proposed methods exploit the joint asymptotic normality of sample quantiles (of i.i.d random variables) to construct the ordinary…
We study optimal estimation when the likelihood may be misspecified. Building on tools from the theory of decision-making under uncertainty, we analyze a class of axiomatically grounded optimality criteria which nests several existing…
Local features are essential to many modern downstream applications. Therefore, it is of interest to determine the properties of local features that contribute to the downstream performance for a better design of feature detectors and…
A new method for estimating the relative positions of location-unaware nodes from the location-aware nodes and the received signal strength (RSS) between the nodes, in a wireless sensor network (WSN), is proposed. In the method, a…
We consider the linear regression problem under semi-supervised settings wherein the available data typically consists of: (i) a small or moderate sized 'labeled' data, and (ii) a much larger sized 'unlabeled' data. Such data arises…
Quantifying the uncertainty of an object's pose estimate is essential for robust control and planning. Although pose estimation is a well-studied robotics problem, attaching statistically rigorous uncertainty is not well understood without…
Accurate maps are a prerequisite for virtually all mobile robot tasks. Most state-of-the-art maps assume a static world; therefore, dynamic objects are filtered out of the measurements. However, this division ignores movable but non-moving…
Rotation averaging (RA) is a fundamental problem in robotics and computer vision. In RA, the goal is to estimate a set of $N$ unknown orientations $R_{1}, ..., R_{N} \in SO(3)$, given noisy measurements $R_{ij} \sim R^{-1}_{i} R_{j}$ of a…
M-estimators are ubiquitous in machine learning and statistical learning theory. They are used both for defining prediction strategies and for evaluating their precision. In this paper, we propose the first non-asymptotic "any-time"…