Related papers: PC-SRIF: Preconditioned Cholesky-based Square Root…
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…
In this paper, we analyze different preconditionings designed to enhance robustness of pure-pixel search algorithms, which are used for blind hyperspectral unmixing and which are equivalent to near-separable nonnegative matrix factorization…
This article proposes a visual inertial navigation algorithm intended to diminish the horizontal position drift experienced by autonomous fixed wing UAVs (Unmanned Air Vehicles) in the absence of GNSS (Global Navigation Satellite System)…
The Cholesky QR algorithm is an efficient communication-minimizing algorithm for computing the QR factorization of a tall-skinny matrix. Unfortunately it has the inherent numerical instability and breakdown when the matrix is…
Among all the deterministic CholeskyQR-type algorithms, Shifted CholeskyQR3 is specifically designed to address the QR factorization of ill-conditioned matrices. This algorithm introduces a shift parameter $s$ to prevent failure during the…
In recent years, Neural Radiance Fields (NeRF) have emerged as a powerful tool for 3D reconstruction and novel view synthesis. However, the computational cost of NeRF rendering and degradation in quality due to the presence of artifacts…
Physics-informed neural networks (PINNs) provide a promising framework for solving inverse problems governed by partial differential equations (PDEs) by integrating observational data and physical constraints in a unified optimization…
The modified Cholesky decomposition is commonly used for precision matrix estimation given a specified order of random variables. However, the order of variables is often not available or cannot be pre-determined. In this work, we propose…
Recently, data-driven inertial navigation approaches have demonstrated their capability of using well-trained neural networks to obtain accurate position estimates from inertial measurement units (IMU) measurements. In this paper, we…
Physics-Informed Neural Networks (PINN) has evolved into a powerful tool for solving partial differential equations, which has been applied to various fields such as energy, environment, en-gineering, etc. When utilizing PINN to solve…
We present AB-VINS, a different kind of visual-inertial SLAM system. Unlike most popular VINS methods which only use hand-crafted techniques, AB-VINS makes use of three different deep neural networks. Instead of estimating sparse feature…
This paper presents a task-oriented computational framework to enhance Visual-Inertial Navigation (VIN) in robots, addressing challenges such as limited time and energy resources. The framework strategically selects visual features using a…
We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions…
In this paper we propose a new analytical preintegration theory for graph-based sensor fusion with an inertial measurement unit (IMU) and a camera (or other aiding sensors).Rather than using discrete sampling of the measurement dynamics as…
Square-root Kalman filters propagate state covariances in Cholesky-factor form for numerical stability, and are a natural target for gradient-based parameter learning in state-space models. Their core operation, triangularization of a…
The traditional visual-inertial SLAM system often struggles with stability under low-light or motion-blur conditions, leading to potential lost of trajectory tracking. High accuracy and robustness are essential for the long-term and stable…
Physics-informed neural networks (PINNs) have recently emerged as a novel and popular approach for solving forward and inverse problems involving partial differential equations (PDEs). However, achieving stable training and obtaining…
Conventional Kalman filtering (KF) approaches exhibit significant limitations in addressing nonlinear state estimation problems contaminated by non-Gaussian noise disturbances. To overcome these challenges, this work proposes a robust…
Leveraging line features to improve localization accuracy of point-based visual-inertial SLAM (VINS) is gaining interest as they provide additional constraints on scene structure. However, real-time performance when incorporating line…
In this article, square-root formulations of the statistical linear regression filter and smoother are developed. Crucially, the method uses QR decompositions rather than Cholesky downdates. This makes the method inherently more numerically…