Related papers: Local Observability of VINS and LINS
This paper examines the local exponential stability (LES) of trajectories for nonlinear systems on Riemannian manifolds. We present necessary and sufficient conditions for LES of a trajectory on a Riemannian manifold by analyzing the…
Similarly to light, gravitational waves can be gravitationally lensed as they propagate near massive astrophysical objects such as galaxies, stars, or black holes. In recent years, forecasts have suggested a reasonable chance of strong…
For computer vision, Vision Transformers (ViTs) have become one of the go-to deep net architectures. Despite being inspired by Convolutional Neural Networks (CNNs), ViTs' output remains sensitive to small spatial shifts in the input, i.e.,…
Accurately imputing traffic flow at unsensed locations is difficult: loop detectors provide precise but sparse measurements, speed from probe vehicles is widely available yet only weakly correlated with flow, and nearby links often exhibit…
We have proposed, to the best of our knowledge, the first-of-its-kind LiDAR-Inertial-Visual-Fused simultaneous localization and mapping (SLAM) system with a strong place recognition capacity. Our proposed SLAM system is consist of…
Gravitational lensing events provide unique opportunities to discover and study planetary systems and binaries. Here we build on previous work to explore the role that orbital motion can play in both identifying and learning more about…
Observer-invariance is regarded as a minimum requirement for an appropriate definition and derived systematically from a spacetime setting, where observer-invariance is a special case of a covariance principle and covered by Ricci-calculus.…
In this paper, the relationship between notions of observability for continuous-time nonlinear system related to distinguishability, observability rank condition and K-function has been investigated. It is proved that an autonomous…
Nonlinear system identification must balance physical interpretability with model flexibility. Classical methods yield structured, control-relevant models but rely on rigid parametric forms that often miss complex nonlinearities, whereas…
A novel relative localization approach for guidance of a micro-scale Unmanned Aerial Vehicle (UAV) by a well-equipped aerial robot fusing Visual-Inertial Odometry (VIO) with Light Detection and Ranging (LiDAR) is proposed in this paper.…
Physically reduced-scale vehicles are emerging to accelerate the development of advanced automated driving functions. In this paper, we investigate the effects of scaling on self-localization accuracy with visual and visual-inertial…
The possible applications and benefits of autonomous Unmanned Aerial Vehicle (UAV) use in urban areas are gaining considerable attention. Before these possibilities can be realized, it is essential that UAVs be able to navigate reliably and…
We consider the set of bimodal linear systems consisting of two linear dynamics acting on each side of a given hyperplane, assuming continuity along the separating hyperplane. Focusing on the unobservable planar ones, we obtain a simple…
For suitable gravitational lens systems with unknown lens redshifts, the redshifts and brightnesses (in different colours) of the lenses are predicted for a variety of cosmological models, for both elliptical and spiral galaxy lenses.…
Forthcoming large imaging surveys such as Euclid and the Vera Rubin Observatory Legacy Survey of Space and Time are expected to find more than $10^5$ strong gravitational lens systems, including many rare and exotic populations such as…
Visual perception is an important component for autonomous navigation of unmanned surface vessels (USV), particularly for the tasks related to autonomous inspection and tracking. These tasks involve vision-based navigation techniques to…
Observability is a modelling property that describes the possibility of inferring the internal state of a system from observations of its output. A related property, structural identifiability, refers to the theoretical possibility of…
The Visual-Inertial Simultaneous Localization and Mapping (VI-SLAM) algorithms which are mostly based on static assumption are widely used in fields such as robotics, UAVs, VR, and autonomous driving. To overcome the localization risks…
This paper presents a novel method for visual-inertial odometry. The method is based on an information fusion framework employing low-cost IMU sensors and the monocular camera in a standard smartphone. We formulate a sequential inference…
This paper introduces a geometric Quaternion-based Unscented Particle Filter for Visual-Inertial Navigation (QUPF-VIN) specifically designed for a vehicle operating with six degrees of freedom (6 DoF). The proposed QUPF-VIN technique is…