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Low Earth orbit (LEO) satellites offer a promising alternative to global navigation satellite systems for precise positioning; however, their relatively low altitudes make them more susceptible to orbital perturbations, which in turn…
This paper proposes an accelerated version of Feasible Sequential Linear Programming (FSLP): the AA($d$)-FSLP algorithm. FSLP preserves feasibility in all intermediate iterates by means of an iterative update strategy which is based on…
This paper studies a coordinate alignment problem for cooperative mobile sensor network localization with range-based measurements. The network consists of target nodes, each of which has only access position information in a local fixed…
Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting better and better, they remain a single point of failure in…
In this letter, we address the problem of exploration and metric-semantic mapping of multi-floor GPS-denied indoor environments using Size Weight and Power (SWaP) constrained aerial robots. Most previous work in exploration assumes that…
We present a closed-loop framework for autonomous raceline optimization that combines NURBS-based trajectory representation, CMA-ES global trajectory optimization, and controller-guided spatial feedback. Instead of treating tracking errors…
Trajectory planning for mobile robots in cluttered environments remains a major challenge due to narrow passages, where conventional methods often fail or generate suboptimal paths. To address this issue, we propose the adaptive trajectory…
Joint audio-visual speaker tracking requires that the locations of microphones and cameras are known and that they are given in a common coordinate system. Sensor self-localization algorithms, however, are usually separately developed for…
A data movie of stochastic optical localization nanoscopy contains spatial and temporal correlations, both providing information of emitter locations. The majority of localization algorithms in the literature estimate emitter locations by…
This paper presents an Extended Kalman Filter (EKF) approach to localize a mobile robot with two quadrature encoders, a compass sensor, a laser range finder (LRF) and an omni-directional camera. The prediction step is performed by employing…
Localization of a robotic system within a previously mapped environment is important for reducing estimation drift and for reusing previously built maps. Existing techniques for geometry-based localization have focused on the description of…
In spite of considerable practical importance, current algorithmic fairness literature lacks technical methods to account for underlying geographic dependency while evaluating or mitigating bias issues for spatial data. We initiate the…
The BABAR Silicon Vertex Tracker (SVT) is a five-layer double-sided silicon detector designed to provide precise measurements of the position and direction of primary tracks, and to fully reconstruct low-momentum tracks produced in e+e-…
In a previous work we have demonstrated a novel numerical model for the point spread function (PSF) of an optical system that can efficiently model both experimental measurements and lens design simulations of the PSF. The novelty lies in…
GNSS localization using everyday mobile devices is challenging in urban environments, as ranging errors caused by the complex propagation of satellite signals and low-quality onboard GNSS hardware are blamed for undermining positioning…
Side-scan sonar (SSS) images are susceptible to motion-induced geometric distortion, which degrades their reliability for seabed interpretation and downstream tasks. Existing correction methods either exploit image-domain consistency…
Large language model (LLM)-based automatic speech recognition (ASR) achieves strong performance but often incurs high computational costs. This work investigates how to obtain the best LLM-ASR performance efficiently. Through comprehensive…
Feature matching determines the orientation accuracy for the High Spatial Resolution (HSR) optical satellite stereos, subsequently impacting several significant applications such as 3D reconstruction and change detection. However, the…
Monocular vision-based Simultaneous Localization and Mapping (SLAM) is used for various purposes due to its advantages in cost, simple setup, as well as availability in the environments where navigation with satellites is not effective.…
Due to sensor limitations, environments that off-road mobile robots operate in are often only partially observable. As the robots move throughout the environment and towards their goal, the optimal route is continuously revised as the…