Related papers: PC-SRIF: Preconditioned Cholesky-based Square Root…
Visual-inertial SLAM systems often exhibit suboptimal performance due to multiple confounding factors including imperfect sensor calibration, noisy measurements, rapid motion dynamics, low illumination, and the inherent limitations of…
In this paper, we present the Trifo Visual Inertial Odometry (Trifo-VIO), a tightly-coupled filtering-based stereo VIO system using both points and lines. Line features help improve system robustness in challenging scenarios when point…
Localization and tracking of a mobile node (MN) in non-line-of-sight (NLOS) scenarios, based on time of arrival (TOA) measurements, is considered in this work. To this end, we develop a constrained form of square root unscented Kalman…
This paper suggests a few novel Cholesky-based square-root algorithms for the maximum correntropy criterion Kalman filtering. In contrast to the previously obtained results, new algorithms are developed in the so-called {\it condensed} form…
The electromagnetic inverse scattering problem (ISP), due to its inherent strong nonlinearity and severe ill-posedness, has long been a core challenge in microwave imaging. In recent years, physics-informed neural networks (PINNs) have…
The objective of this paper is to provide consistent, real-time 3D localization capabilities to mobile devices navigating within previously mapped areas. To this end, we introduce the Cholesky-Schmidt-Kalman filter (C-SKF), which explicitly…
The approximation and convergence properties of implicit neural representations (INRs) are known to be highly sensitive to parameter initialization strategies. While several data-driven initialization methods demonstrate significant…
In this letter, we present a robust, real-time, inertial navigation system (INS)-Centric GNSS-Visual-Inertial navigation system (IC-GVINS) for wheeled robot, in which the precise INS is fully utilized in both the state estimation and visual…
The acquisition of attitude, velocity, and position is an essential task in the field of inertial navigation, achieved by integrating the measurements from inertial sensors. Recently, the ultra-precision inertial navigation computation has…
Physics-informed neural networks (PINNs) have recently emerged as a popular approach for solving forward and inverse problems involving partial differential equations (PDEs). Compared to fully connected neural networks, PINNs based on…
Drift-free localization is essential for autonomous vehicles. In this paper, we address the problem by proposing a filter-based framework, which integrates the visual-inertial odometry and the measurements of the features in the pre-built…
In this paper we present a novel algorithm developed for computing the QR factorisation of extremely ill-conditioned tall-and-skinny matrices on distributed memory systems. The algorithm is based on the communication-avoiding CholeskyQR2…
This paper advances the use of physics-informed neural networks (PINNs) architectures to address moving interface problems via the level set method. Originally developed for other PDE-based problems, we particularly leverage PirateNet's…
Accurate and reliable positioning is crucial for perception, decision-making, and other high-level applications in autonomous driving, unmanned aerial vehicles, and intelligent robots. Given the inherent limitations of standalone sensors,…
Visual-inertial SLAM has been studied widely due to the advantage of its lightweight, cost-effectiveness, and rich information compared to other sensors. A multi-state constrained filter (MSCKF) and its Schmidt version have been developed…
Obstacle detection by semantic segmentation shows a great promise for autonomous navigation in unmanned surface vehicles (USV). However, existing methods suffer from poor estimation of the water edge in the presence of visual ambiguities,…
This paper improves visual-inertial systems to boost the localization accuracy for low-cost rescue robots. When robots traverse on rugged terrain, the performance of pose estimation suffers from big noise on the measurements of the inertial…
Intelligent reflecting surfaces (IRSs) have become a vital technology for improving the spectrum and energy efficiency of forthcoming wireless networks. Nevertheless, practical implementation is obstructed by the excessive overhead…
Elliptic variational inequalities (EVIs) present significant challenges in numerical computation due to their inherent non-smoothness, nonlinearity, and inequality formulations. Traditional mesh-based methods often struggle with complex…
Secure navigation is pivotal for several applications including autonomous vehicles, robotics, and aviation. The inertial navigation system estimates position, velocity, and attitude through dead reckoning especially when external…