Related papers: Adaptive KalmanNet: Data-Driven Kalman Filter with…

Unmanned Aerial Vehicles in dynamic environments face telemetry outages, structural vibrations, and regime-dependent noise that invalidate the stationary covariance assumptions of classical Kalman filters. The Sage-Husa Kalman Filter (SHKF)…

We consider the distributed Kalman filtering problem for sensor networks where each node takes the measurement, communicates with its local neighbors, and updates its local estimate and estimation error covariance at the same frequency. In…

In standard Convolutional Neural Networks (CNNs), the receptive fields of artificial neurons in each layer are designed to share the same size. It is well-known in the neuroscience community that the receptive field size of visual cortical…

We propose a Neural-Enhanced Distributed Kalman Filter (NDKF) for multi-sensor state estimation in nonlinear systems. Unlike traditional Kalman filters that rely on explicit analytical models and assume centralized fusion, NDKF leverages…

Deploying deep neural networks (DNNs) in real-world environments poses challenges due to faults that can manifest in physical hardware from radiation, aging, and temperature fluctuations. To address this, previous works have focused on…

In the absence of sufficient data variation (e.g., scanner and protocol variability) in annotated data, deep neural networks (DNNs) tend to overfit during training. As a result, their performance is significantly lower on data from unseen…

This paper presents a deep learning enhanced adaptive unscented Kalman filter (UKF) for predicting human arm motion in the context of manufacturing. Unlike previous network-based methods that solely rely on captured human motion data, which…

Modern autonomous navigation for unmanned ground vehicles relies on different estimators to fuse inertial sensors and GNSS measurements. However, the constant noise covariance matrices often struggle to account for dynamic real-world…

In the classical Kalman filter(KF), the estimated state is a linear combination of the one-step predicted state and measurement state, their confidence level change when the prediction mean square error matrix and covariance matrix of…

This article investigates the problem of data-driven state estimation for linear systems with both unknown system dynamics and noise covariances. We propose an Autocovariance Least-squares-based Data-driven Kalman Filter (ADKF), which…

Deep neural networks (DNNs) were shown to facilitate the operation of uplink multiple-input multiple-output (MIMO) receivers, with emerging architectures augmenting modules of classic receiver processing. Current designs consider static…

We present a new approach and a novel architecture, termed WSNet, for learning compact and efficient deep neural networks. Existing approaches conventionally learn full model parameters independently and then compress them via ad hoc…

Wireless sensor networks (WSNs) represent a critical research domain within the Internet of Things (IoT) technology. The distributed Kalman filter (DKF) has garnered significant attention as an information fusion method for WSNs. However,…

To facilitate efficient embedded and hardware implementations of deep neural networks (DNNs), two important categories of DNN model compression techniques: weight pruning and weight quantization are investigated. The former leverages the…

This paper addresses the numerical aspects of adaptive filtering (AF) techniques for simultaneous state and parameters estimation arising in the design of dynamic positioning systems in many areas of research. The AF schemes consist of a…

Extended Kalman Filter (EKF) has been a popular approach to localization a mobile robot. However, the performance of the EKF and the quality of the estimation depends on the correct a priori knowledge of process and measurement noise…

Modern deep neural networks (DNNs) are extremely powerful; however, this comes at the price of increased depth and having more parameters per layer, making their training and inference more computationally challenging. In an attempt to…

Deep Neural Networks (DNNs) have shown significant advantages in a wide variety of domains. However, DNNs are becoming computationally intensive and energy hungry at an exponential pace, while at the same time, there is a vast demand for…

Recent vision transformers, large-kernel CNNs and MLPs have attained remarkable successes in broad vision tasks thanks to their effective information fusion in the global scope. However, their efficient deployments, especially on mobile…

Inference tasks with time series over graphs are of importance in applications such as urban water networks, economics, and networked neuroscience. Addressing these tasks typically relies on identifying a computationally affordable model…