Related papers: FAST-LIO, Then Bayesian ICP, Then GTSFM
This paper proposes a framework of L-BFGS based on the (approximate) second-order information with stochastic batches, as a novel approach to the finite-sum minimization problems. Different from the classical L-BFGS where stochastic batches…
In this letter we investigate a tightly coupled Lidar-Inertia Odometry and Mapping (LIOM) scheme, with the capability to incorporate multiple lidars with complementary field of view (FOV). In essence, we devise a time-synchronized scheme to…
Feature selection, identifying a subset of variables that are relevant for predicting a response, is an important and challenging component of many methods in statistics and machine learning. Feature selection is especially difficult and…
The increasing complexity of large-scale FPGA accelerators poses significant challenges in achieving high performance while maintaining design productivity. High-level synthesis (HLS) has been adopted as a solution, but the mismatch between…
We leverage highly successful prior projects sponsored by multiple NSF grants and gifts from industry: the BLAS-like Library Instantiation Software (BLIS) and the libflame efforts to lay the foundation for a new flexible framework by…
Monocular 3D Gaussian Splatting SLAM suffers from critical limitations in time efficiency, geometric accuracy, and multi-view consistency. These issues stem from the time-consuming $\textit{Train-from-Scratch}$ optimization and the lack of…
A fast forward feature selection algorithm is presented in this paper. It is based on a Gaussian mixture model (GMM) classifier. GMM are used for classifying hyperspectral images. The algorithm selects iteratively spectral features that…
Wi-Fi sensing is a leading technology for Human Activity Recognition (HAR), offering a non-intrusive and cost-effective solution for healthcare and smart environments. Despite its potential, existing methods struggle with domain shift…
Recently, the general synthetic iterative scheme (GSIS) has been proposed to find the steady-state solution of the Boltzmann equation in the whole range of gas rarefaction, where its fast-converging and asymptotic-preserving properties lead…
Magnetization dynamics in magnetic materials is often modeled by the Landau-Lifshitz equation, which is solved numerically in general. In micromagnetic simulations, the computational cost relies heavily on the time-marching scheme and the…
Continuous-Time Simultaneous Localization And Mapping (CTSLAM) has become a promising approach for fusing asynchronous and multi-modal sensor suites. Unlike discrete-time SLAM, which estimates poses discretely, CTSLAM uses continuous-time…
This paper introduces a novel deconvolution algorithm, shift-invariant multi-linearity (SIML), which significantly enhances the analysis of data from a comprehensive two-dimensional gas chromatograph coupled to a mass spectrometric detector…
Research in Simultaneous Localization and Mapping (SLAM) has made outstanding progress over the past years. SLAM systems are nowadays transitioning from academic to real world applications. However, this transition has posed new demanding…
In recent years, 3D Gaussian splatting (3D-GS) has emerged as a novel scene representation approach. However, existing vision-only 3D-GS methods often rely on hand-crafted heuristics for point-cloud densification and face challenges in…
In this article, we propose a new class of priors for Bayesian inference with multiple Gaussian graphical models. We introduce fully Bayesian treatments of two popular procedures, the group graphical lasso and the fused graphical lasso, and…
Most state-of-the-art action feature extractors involve differential operators, which act as highpass filters and tend to attenuate low frequency action information. This attenuation introduces bias to the resulting features and generates…
Simultaneous localization and mapping (SLAM) based on laser sensors has been widely adopted by mobile robots and autonomous vehicles. These SLAM systems are required to support accurate localization with limited computational resources. In…
Modern LiDAR-SLAM (L-SLAM) systems have shown excellent results in large-scale, real-world scenarios. However, they commonly have a high latency due to the expensive data association and nonlinear optimization. This paper demonstrates that…
Safety filters based on control barrier functions (CBFs) and high-order control barrier functions (HOCBFs) are often implemented through quadratic programs (QPs). In general, especially in the presence of multiple constraints, feasibility…
Challenging indoor and urban environments with severe multipath propagation and obstructed LoS (OLoS) degrade classical radio frequency (RF) positioning. Multipath-based simultaneous localization and mapping (MP-SLAM) is a promising remedy,…