Related papers: PC-SRIF: Preconditioned Cholesky-based Square Root…
Large kernel systems are prone to be ill-conditioned. Pivoted Cholesky decomposition (PCD) render a stable and efficient solution to the systems without a perturbation of regularization. This paper proposes a new PCD algorithm by tuning…
Most of the existing LiDAR-inertial navigation systems are based on frame-to-map registrations, leading to inconsistency in state estimation. The newest solid-state LiDAR with a non-repetitive scanning pattern makes it possible to achieve a…
To mitigate the effects of shadow fading and obstacle blocking, reconfigurable intelligent surface (RIS) has become a promising technology to improve the signal transmission quality of wireless communications by controlling the…
Point cloud analysis without pose priors is very challenging in real applications, as the orientations of point clouds are often unknown. In this paper, we propose a brand new point-set learning framework PRIN, namely, Point-wise Rotation…
Physics-Informed Neural Networks (PINNs) represent a significant advancement in Scientific Machine Learning (SciML), which integrate physical domain knowledge into an empirical loss function as soft constraints and apply existing machine…
Autonomous vehicles and wheeled robots are widely used in many applications in both indoor and outdoor settings. In practical situations with limited GNSS signals or degraded lighting conditions, the navigation solution may rely only on…
Learned image compression (LIC) has shown great promise for achieving high rate-distortion performance. However, current LIC methods are often limited in their capability to model the complex correlation structures inherent in natural…
We present LINS, a lightweight lidar-inertial state estimator, for real-time ego-motion estimation. The proposed method enables robust and efficient navigation for ground vehicles in challenging environments, such as feature-less scenes,…
Quantum state tomography (QST) faces exponential measurement requirements and noise sensitivity in multi-qubit systems, bottlenecking practical quantum technologies. We present a physics-informed neural network (PINN) framework integrating…
This letter proposes a fluid reconfigurable intelligent surface (FRIS) paradigm, extending the conventional reconfigurable intelligent surface (RIS) technology to incorporate position reconfigurability of the elements. In our model, a…
Implicit Neural Representations (INRs) are increasingly recognized as a versatile data modality for representing discretized signals, offering benefits such as infinite query resolution and reduced storage requirements. Existing signal…
The successive projection algorithm (SPA) can quickly solve a nonnegative matrix factorization problem under a separability assumption. Even if noise is added to the problem, SPA is robust as long as the perturbations caused by the noise…
In this article, a tutorial introduction to visual-inertial navigation(VIN) is presented. Visual and inertial perception are two complementary sensing modalities. Cameras and inertial measurement units (IMU) are the corresponding sensors…
Fast pose estimation (PE) is of vital importance for successful mission performance of agile autonomous robots. Global Positioning Systems such as GPS and GNSS have been typically used in fusion with Inertial Navigation Systems (INS) for…
In this paper, a mathematical model is presented to infer the wave free surface elevation from the horizontal velocity components using Physics Informed Neural Network (PINN). PINN is a deep learning framework to solve forward and inverse…
This paper presents a fully data-free Physics-Informed Neural Network (PINN) capable of solving compressible inviscid flows (ranging from supersonic to hypersonic, up to Ma=15, where Ma is the Mach number) around a circular cylinder. To…
The solution of a sparse system of linear equations is ubiquitous in scientific applications. Iterative methods, such as the Preconditioned Conjugate Gradient method (PCG), are normally chosen over direct methods due to memory and…
We introduce a new sparse sliced inverse regression estimator called Cholesky matrix penalization and its adaptive version for achieving sparsity in estimating the dimensions of the central subspace. The new estimators use the Cholesky…
This article proposes a method to diminish the pose (position plus attitude) drift experienced by an SVO (Semi-Direct Visual Odometry) based visual navigation system installed onboard a UAV (Unmanned Air Vehicle) by supplementing its pose…
The scarcity of data acquired under actual space operational conditions poses a significant challenge for developing learning-based visual navigation algorithms crucial for autonomous spacecraft navigation. This data shortage is primarily…