Related papers: FAST-LIO, Then Bayesian ICP, Then GTSFM
Wi-Fi Channel State Information (CSI) has emerged as a promising non-line-of-sight sensing modality for human and robotic activity recognition. However, prior work has predominantly relied on CSI amplitude while underutilizing phase…
This paper presents a lightweight LiDAR-inertial-visual odometry system optimized for resource-constrained platforms. It integrates a degeneration-aware adaptive visual frame selector into error-state iterated Kalman filter (ESIKF) with…
We propose a new algorithm for solving the graph-fused lasso (GFL), a method for parameter estimation that operates under the assumption that the signal tends to be locally constant over a predefined graph structure. Our key insight is to…
We present the design and results of the MICCAI Federated Tumor Segmentation (FeTS) Challenge 2024, which focuses on federated learning (FL) for glioma sub-region segmentation in multi-parametric MRI and evaluates new weight aggregation…
Simultaneous Localization and Mapping systems are a key enabler for positioning in both handheld and robotic applications. The Hilti SLAM Challenges organized over the past years have been successful at benchmarking some of the world's best…
Factor graphs have demonstrated remarkable efficiency for robotic perception tasks, particularly in localization and mapping applications. However, their application to optimal control problems -- especially Model Predictive Control (MPC)…
Callaway's dual relaxation times model, which takes into account the normal and resistive scatterings of phonon, is used to describe the heat conduction in materials like graphene. For steady-state problems, the Callaway model is usually…
Simultaneous Localization and Mapping (SLAM) is being deployed in real-world applications, however many state-of-the-art solutions still struggle in many common scenarios. A key necessity in progressing SLAM research is the availability of…
We propose a method for efficient simulations in extended ensembles, useful, e.g., for the study of problems with complex energy landscapes and for free energy calculations. The main difficulty in such simulations is the estimation of the a…
We report on the performance of an end-to-end Bayesian analysis pipeline for detecting and characterizing galactic binary signals in simulated LISA data. Our principal analysis tool is the Blocked-Annealed Metropolis Hasting (BAM)…
Guided image filtering (GIF) is a popular smoothing technique, in which an additional image is used as a structure guidance for noise removal with edge preservation. The original GIF and some of its subsequent improvements are derived from…
The histogram is an analysis tool in widespread use within many sciences, with high energy physics as a prime example. However, there exists an inherent bias in the choice of binning for the histogram, with different choices potentially…
Several recent contributions in the field of iterative STFT phase retrieval have demonstrated that the performance of the classical Griffin-Lim method can be considerably improved upon. By using the same projection operators as Griffin-Lim,…
Multidimensional Index Modulations (IM) are a novel alternative to conventional modulations which can bring considerable benefits for future wireless networks. Within this scope, in this paper we present a new scheme, named as…
Any image recovery algorithm attempts to achieve the highest quality reconstruction in a timely manner. The former can be achieved in several ways, among which are by incorporating Bayesian priors that exploit natural image tendencies to…
The phase estimation algorithm is a powerful quantum algorithm with applications in cryptography, number theory, and simulation of quantum systems. We use this algorithm to simulate the time evolution of a system of two spin-1/2 particles…
Analysis of state-of-the-art VO/VSLAM system exposes a gap in balancing performance (accuracy & robustness) and efficiency (latency). Feature-based systems exhibit good performance, yet have higher latency due to explicit data association;…
We introduce NIFTY, "Numerical Information Field Theory", a software package for the development of Bayesian signal inference algorithms that operate independently from any underlying spatial grid and its resolution. A large number of…
We present an efficient Monte Carlo algorithm for the simulation of the two-dimensional Random Field Ising Model (RFIM). The method combines the event-driven, rejection-free character of the Bortz Kalos-Lebowitz (BKL) algorithm with Glauber…
In this paper we apply the Fast Iterative Method (FIM) for solving general Hamilton-Jacobi-Bellman (HJB) equations and we compare the results with an accelerated version of the Fast Sweeping Method (FSM). We find that FIM can be indeed used…