Related papers: Self-Assessment and Correction of Sensor Synchroni…
This paper considers the problem of simultaneous sensor fault detection, isolation, and networked estimation of linear full-rank dynamical systems. The proposed networked estimation is a variant of single time-scale protocol and is based on…
Augmented reality (AR) applications for construction monitoring rely on real-time environmental tracking to visualize architectural elements. However, construction sites present significant challenges for traditional tracking methods due to…
Sensor fusion of a MEMS IMU with a magnetometer is a popular system design, because such 9-DoF (degrees of freedom) systems are capable of achieving drift-free 3D orientation tracking. However, these systems are often vulnerable to ambient…
In robotics, motion capture systems have been widely used to measure the accuracy of localization algorithms. Moreover, this infrastructure can also be used for other computer vision tasks, such as the evaluation of Visual (-Inertial) SLAM…
A simple method for synchronization of video streams with a precision better than one millisecond is proposed. The method is applicable to any number of rolling shutter cameras and when a few photographic flashes or other abrupt lighting…
Automated symmetry detection is still a difficult task in 2021. However, it has applications in computer vision, and it also plays an important part in understanding art. This paper focuses on aiding the latter by comparing different…
Multi-object tracking is a cornerstone capability of any robotic system. The quality of tracking is largely dependent on the quality of the detector used. In many applications, such as autonomous vehicles, it is preferable to over-detect…
Logs of real-life processes often feature uncertainty pertaining the recorded timestamps, data values, and/or events. We consider the problem of checking conformance of uncertain logs against data-aware reference processes. Specifically, we…
In this paper, we propose a novel concept of path consistency to learn robust object matching without using manual object identity supervision. Our key idea is that, to track a object through frames, we can obtain multiple different…
An important step in a multi-sensor surveillance system is to estimate sensor biases from their noisy asynchronous measurements. This estimation problem is computationally challenging due to the highly nonlinear transformation between the…
What happens when two synchronized clocks on a rigid beam are both given the exact same acceleration profile? Will they remain synchronized? What if we use a rigid-rod Rindler acceleration profile? The special relativity prediction…
Point source atom interferometry is a promising approach for implementing robust, high-sensitivity, rotation sensors using cold atoms. However, its scale factor, i.e., the ratio between the interferometer signal and the actual rotation…
In this paper we have proposed clock error mitigation from the measurements in the scheduled based self localization system. We propose measurement model with clock errors while following a scheduled transmission among anchor nodes.…
This paper proposes a discrete-time geometric attitude observer for fusing monocular vision with GPS velocity measurements. The observer takes the relative transformations obtained from processing monocular images with any visual odometry…
A method is proposed for detecting from univariate data the presence of synchronization of a self-sustained oscillator by external driving with varying frequency. The method is based on the analysis of difference between the oscillator…
Data assimilation refers to the problem of finding trajectories of a prescribed dynamical model in such a way that the output of the model (usually some function of the model states) follows a given time series of observations. Typically…
This paper addresses the problem of synchronizing orthogonal matrices over directed graphs. For synchronized transformations (or matrices), composite transformations over loops equal the identity. We formulate the synchronization problem as…
We analyze the emergence of synchronization in a population of moving integrate-and-fire oscillators. Oscillators, while moving on a plane, interact with their nearest neighbor upon firing time. We discover a non-monotonic dependence of the…
Conventional correlation-based frame synchronization techniques can suffer significant performance degradation over multi-path frequency-selective channels. As a remedy, in this paper we consider joint frame synchronization and channel…
Positioning is a prominent field of study, notably focusing on Visual Inertial Odometry (VIO) and Simultaneous Localization and Mapping (SLAM) methods. Despite their advancements, these methods often encounter dead-reckoning errors that…