Related papers: Open-Source Factor Graph Optimization Package for …
This paper proposes a new method for RTK post-processing. Different from the traditional forward-backward Kalman filter, in our method, the whole system equation is built on a graphical state space model and solved by factor graph…
Simulating Markovian open quantum systems in the semiclassical regime poses a grand challenge for computational physics, as the highly oscillatory nature of the dynamics imposes prohibitive resolution requirements on traditional grid-based…
Traditional Simultaneous Localization and Mapping (SLAM) algorithms rely heavily on the static environment assumption, which severely limits their applicability in real-world spaces populated by moving entities, such as pedestrians. In this…
Sliding window-factor graph optimization (SW-FGO) has gained more and more attention in navigation research due to its robust approximation to non-Gaussian noises and nonlinearity of measuring models. There are lots of works focusing on its…
This paper presents the full requirements analysis, design, development, and testing of high-precision navigation flight software for Distributed Space Systems (DSS) using Carrier Phase Differential GNSS (CDGNSS). Five main contributions…
In this paper, we present a novel signal processing unit built upon the theory of factor graphs, which is able to address a wide range of signal processing algorithms. More specifically, the demonstrated factor graph processor (FGP) is…
In this paper, we present a novel general framework grounded in the factor graph theory to solve kinematic and dynamic problems for multi-body systems. Although the motion of multi-body systems is considered to be a well-studied problem and…
Granger causality (GC) is often considered not an actual form of causality. Still, it is arguably the most widely used method to assess the predictability of a time series from another one. Granger causality has been widely used in many…
While machine learning models are typically trained to solve prediction problems, we might often want to use them for optimization problems. For example, given a dataset of proteins and their corresponding fluorescence levels, we might want…
3D maps are increasingly useful for many applications such as drone navigation, emergency services, and urban planning. However, creating 3D maps and keeping them up-to-date using existing technologies, such as laser scanners, is expensive.…
This paper proposes a unified statistical channel model to characterize the atmospheric turbulence induced distortions faced by orbital angular momentum (OAM) in free space optical (FSO) communication systems. In this channel model, the…
Time-series datasets are central in machine learning with applications in numerous fields of science and engineering, such as biomedicine, Earth observation, and network analysis. Extensive research exists on state-space models (SSMs),…
Global Navigation Satellite Systems (GNSS)-based positioning plays a crucial role in various applications, including navigation, transportation, logistics, mapping, and emergency services. Traditional GNSS positioning methods are…
Ground-based Augmentation System (GBAS) augments Global Navigation Satellite Systems (GNSS) to support the precision approach and landing of aircraft. To guarantee integrity, existing single-frequency GBAS utilizes position-domain geometry…
Graph data augmentation has shown superiority in enhancing generalizability and robustness of GNNs in graph-level classifications. However, existing methods primarily focus on the augmentation in the graph signal space and the graph…
Techniques to reduce the energy burden of an industrial ecosystem often require solving a multiobjective optimization problem. However, collecting experimental data can often be either expensive or time-consuming. In such cases, statistical…
Probabilistic graphical models (PGMs) are tools for solving complex probabilistic relationships. However, suboptimal PGM structures are primarily used in practice. This dissertation presents three contributions to the PGM literature. The…
Standalone Global Navigation Satellite Systems (GNSS) are known to provide positioning accuracy of a few meters in open sky conditions. This accuracy can drop significantly when the line-of-sight (LOS) paths to some GNSS satellites are…
Accurate navigation is essential for autonomous robots and vehicles. In recent years, the integration of the Global Navigation Satellite System (GNSS), Inertial Navigation System (INS), and camera has garnered considerable attention due to…
This paper presents research findings on handling faulty measurements (i.e., outliers) of global navigation satellite systems (GNSS) for vehicle localization under adverse signal conditions in field applications, where raw GNSS data are…