Related papers: Fundamental Limits of Rigid Body Localization
Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…
Least-absolute-deviations (LAD) line fitting is robust to outliers but computationally more involved than least squares regression. Although the literature includes linear and near-linear time algorithms for the LAD line fitting problem,…
Movements of maritime vessels are inherently complex and challenging to model due to the dynamic and often unpredictable nature of maritime operations. Even within structured maritime environments, such as shipping lanes and port…
Metric facility location is a well-studied problem for which linear programming methods have been used with great success in deriving approximation algorithms. The capacity-constrained generalizations, such as capacitated facility location…
In multiparameter quantum metrology, the weighted-arithmetic-mean error of estimation is often used as a scalar cost function to be minimized during design optimization. However, other types of mean error can reveal different facets of…
In this paper we apply to gravitational waves from non-spinning binary systems a recently intro- duced frequentist methodology to calculate analytically the error for a maximum likelihood estimate (MLE) of physical parameters. While…
Accurate vertebra localization and identification are required in many clinical applications of spine disorder diagnosis and surgery planning. However, significant challenges are posed in this task by highly varying pathologies (such as…
This work focuses on assessing the information-theoretic limits of scene parameter estimation in plenoptic imaging systems. A general framework to compute lower bounds on the parameter estimation error from noisy plenoptic observations is…
We establish a simple method to assess the quantum Fisher information required for resolving two incoherent point sources with an imaging system. The resulting Cram\'er-Rao bound shows that the standard Rayleigh limit can be surpassed by…
Fitting parametric models of human bodies, hands or faces to sparse input signals in an accurate, robust, and fast manner has the promise of significantly improving immersion in AR and VR scenarios. A common first step in systems that…
The problem of fitting concentric ellipses is a vital problem in image processing, pattern recognition, and astronomy. Several methods have been developed but all address very special cases. In this paper, this problem has been investigated…
Localization is paramount for autonomous robots. While camera and LiDAR-based approaches have been extensively investigated, they are affected by adverse illumination and weather conditions. Therefore, radar sensors have recently gained…
This paper investigates the potential of non-terrestrial and terrestrial signals of opportunity (SOOP) for navigation applications. Non-terrestrial SOOP analysis employs modified Cram\`er-Rao lower bound (MCRLB) to establish a relationship…
This paper introduces a new maximum likelihood (ML) solution for the code-aided (CA) timing recovery problem in square-QAM transmissions and derives, for the very first time, its CA Cram\'er-Rao lower bounds (CRLBs) in closed-form…
In this paper we study the joint determination of source and background flux for point sources as observed by digital array detectors. We explicitly compute the two-dimensional Cram\'er-Rao absolute lower bound (CRLB) as well as the…
Precise astrometric and photometric measurements of celestial point sources are fundamental to modern astronomy. These measurements, used to determine object positions, motions, and fluxes, are based on observational models that have…
RF fingerprinting authenticates satellite transmitters by exploiting hardware-specific signal impairments, yet existing methods operate without theoretical performance guarantees. We derive the Fisher information matrix (FIM) for joint…
We present a theoretical foundation for relativistic astronomical measurements in curved space-time. In particular, we discuss a new iterative approach for describing the dynamics of an astronomical N-body system. To do this, we generalize…
The Lieb-Robinson bound (LRB) states that the range and strength of interactions between the constituents of a complex many-body system impose upper limits to how fast the signal can propagate. It manifests in a light cone-like growth of…
Visual and lidar Simultaneous Localization and Mapping (SLAM) algorithms benefit from the Inertial Measurement Unit (IMU) modality. The high-rate inertial data complement the other lower-rate modalities. Moreover, in the absence of constant…