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The thresholding covariance estimator has nice asymptotic properties for estimating sparse large covariance matrices, but it often has negative eigenvalues when used in real data analysis. To simultaneously achieve sparsity and positive…
Velocity estimation is a core component of state estimation and sensor fusion pipelines in mobile robotics and autonomous ground systems, directly affecting navigation accuracy, control stability, and operational safety. In conventional…
This paper presents a robust non-linear state estimator for autonomous surface vehicles, where the movement is restricted to the horizontal plane. It is assumed that only the vehicle position and orientation can be measured, being the…
A new closed-form solver is proposed minimizing the algebraic error optimally, in the least-squares sense, to estimate the relative planar motion of two calibrated cameras. The main objective is to solve the over-determined case, i.e., when…
Two adaptive relaxation strategies are proposed for Anderson acceleration. They are specifically designed for applications in which mappings converge to a fixed point. Their superiority over alternative Anderson acceleration is demonstrated…
This paper studies the problem of identifying directions of axial symmetry in multivariate distributions. Theoretical results are derived on how the measure or cardinality of the set of symmetry directions relates to spherical symmetry. The…
The objective of this work is to propose an asymptotic correction method for the estimators of parameters from regression models with covariates subject to classification errors. A correction was developed based on the least squares…
Trajectory estimation involves determining the trajectory of a mobile robot by combining prior knowledge about its dynamic model with noisy observations of its state obtained using sensors. The accuracy of such a procedure is dictated by…
We introduce a covariance matrix estimator that both takes into account the heteroskedasticity of financial returns (by using an exponentially weighted moving average) and reduces the effective dimensionality of the estimation (and hence…
We construct an estimator $\widehat{\Sigma}$ for covariance matrices of unknown, centred random vectors X, with the given data consisting of N independent measurements $X_1,...,X_N$ of X and the wanted confidence level. We show under…
Scoliosis is a condition defined by an abnormal spinal curvature. For diagnosis and treatment planning of scoliosis, spinal curvature can be estimated using Cobb angles. We propose an automated method for the estimation of Cobb angles from…
We study two hybridization algorithms used for the combination of a quantum inertial sensor based on atom interferometry with a classical inertial sensor for onboard acceleration measurements. The first is based on the direct extraction of…
We use silicon strip detectors (originally developed for the CLEO III high energy particle physics experiment) to measure fluid particle trajectories in turbulence with temporal resolution of up to 70,000 frames per second. This high frame…
Non-stationary approximations of the final value of a converging sequence are discussed, and we show that extremal eigenvalues can be reasonably estimated from the CG iterates without much computation at all. We introduce estimators of…
Solving for the minimum time bounded acceleration trajectory with prescribed position and velocity at endpoints is a highly nonlinear problem. The methods and bounds developed in this paper distinguish when there is a continuous…
Event-based cameras are ideal for line-based motion estimation, since they predominantly respond to edges in the scene. However, accurately determining the camera displacement based on events continues to be an open problem. This is because…
A novel single-frame quaternion estimator processing two vector observations is introduced. The singular cases are examined, and appropriate rotational solutions are provided. Additionally, an alternative method involving sequential…
We study methods for aggregating pairwise comparison data in order to estimate outcome probabilities for future comparisons among a collection of n items. Working within a flexible framework that imposes only a form of strong stochastic…
This paper describes a novel method for the estimation of the trajectory curve and orientation of a rigid body moving along a railway track. Compared to other recent developments in the literature, the presented approach has the significant…
Oscillators are ubiquitous in nature, and usually associated with the existence of an asymptotic phase that governs the long-term dynamics of the oscillator. % We show that asymptotic phase can be estimated using a carefully chosen series…