Related papers: Experimental 3D super-localization with Laguerre-G…
Cooperative geolocation has attracted significant research interests in recent years. A large number of localization algorithms rely on the availability of statistical knowledge of measurement errors, which is often difficult to obtain in…
The problem of phase synchronization is to estimate the phases (angles) of a complex unit-modulus vector $z$ from their noisy pairwise relative measurements $C = zz^* + \sigma W$, where $W$ is a complex-valued Gaussian random matrix. The…
The availability of accurate localization is critical for multi-robot exploration strategies; noisy or inconsistent localization causes failure in meeting exploration objectives. We aim to achieve high localization accuracy with…
For a group of cooperating UAVs, localizing each other is often a key task. This paper studies the localization problem for a group of UAVs flying in 3D space with very limited information, i.e., when noisy distance measurements are the…
In a context of 3D mapping, it is very important to get accurate measurements from sensors. In particular, Light Detection And Ranging (LIDAR) measurements are typically treated as a zero-mean Gaussian distribution. We show that this…
Locating a target is key in many applications, namely in high-stakes real-world scenarios, like detecting humans or obstacles in vehicular networks. In scenarios where precise statistics of the measurement noise are unavailable,…
Achieving resolution in the sub-Rayleigh regime (superresolution) is one of the rapidly developing topics in quantum optics and metrology. Recently, it was shown that perfect measurement based on spatial mode demultiplexing (SPADE) in…
Beam alignment enables efficient, stable transmission and control of optical energy and information, which critically depend on precise monitoring and regulation of the three-dimensional (3D) relative positioning between fibers. This study…
We investigate the convergence properties of the EM algorithm when applied to overspecified Gaussian mixture models -- that is, when the number of components in the fitted model exceeds that of the true underlying distribution. Focusing on…
The ability to accurately detect and localize objects is recognized as being the most important for the perception of self-driving cars. From 2D to 3D object detection, the most difficult is to determine the distance from the ego-vehicle to…
Image Splicing Localization (ISL) is a fundamental yet challenging task in digital forensics. Although current approaches have achieved promising performance, the edge information is insufficiently exploited, resulting in poor integrality…
We study the problem of maximum likelihood estimation of densities that are log-concave and lie in the graphical model corresponding to a given undirected graph $G$. We show that the maximum likelihood estimate (MLE) is the product of the…
We present a cost-efficient and versatile method to map an unknown 3D freeform surface using only sparse measurements while the end-effector of a robotic manipulator moves along the surface. The geometry is locally approximated by a plane,…
We derive an asymptotic expansion for the log likelihood of Gaussian mixture models (GMMs) with equal covariance matrices in the low signal-to-noise regime. The expansion reveals an intimate connection between two types of algorithms for…
3D Gaussian Splatting (3DGS) has recently emerged as a powerful scene representation and is increasingly used for visual localization and pose refinement. However, despite its high-quality differentiable rendering, the robustness of…
In this paper, we propose a quantum-native formulation of maximum likelihood detection (MLD) for overloaded multiple-input multiple-output (MIMO) systems in a random access channel, where numerous user terminals share the same channel…
We present LocoGS, a locality-aware 3D Gaussian Splatting (3DGS) framework that exploits the spatial coherence of 3D Gaussians for compact modeling of volumetric scenes. To this end, we first analyze the local coherence of 3D Gaussian…
Map-based LiDAR localization, while widely used in autonomous systems, faces significant challenges in degraded environments due to lacking distinct geometric features. This paper introduces SuperLoc, a robust LiDAR localization package…
Recent large reconstruction models have made notable progress in generating high-quality 3D objects from single images. However, current reconstruction methods often rely on explicit camera pose estimation or fixed viewpoints, restricting…
This work considers the problem of locating a single source from noisy range measurements to a set of nodes in a wireless sensor network. We propose two new techniques that we designate as Source Localization with Nuclear Norm (SLNN) and…