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Time series data are often affected by various forms of corruption, such as missing values, noise, and outliers, which pose significant challenges for tasks such as forecasting and anomaly detection. To address these issues, inverse…

The Visual-Inertial Simultaneous Localization and Mapping (VI-SLAM) algorithms which are mostly based on static assumption are widely used in fields such as robotics, UAVs, VR, and autonomous driving. To overcome the localization risks…

The interest in mobile platforms across a variety of applications has increased significantly in recent years. One of the reasons is the ability to achieve accurate navigation by using low-cost sensors. To this end, inertial sensors are…

In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…

Existing underwater SLAM systems are difficult to work effectively in texture-sparse and geometrically degraded underwater environments, resulting in intermittent tracking and sparse mapping. Therefore, we present Water-DSLAM, a novel…

Inspired by recent findings on the fractal geometry of language, we introduce Recursive INference Scaling (RINS) as a complementary, plug-in recipe for scaling inference time in language and multimodal systems. RINS is a particular form of…

In a scenario where multi-modal cameras are operating together, the problem of working with non-aligned images cannot be avoided. Yet, existing image fusion algorithms rely heavily on strictly registered input image pairs to produce more…

A Magnetic field Aided Inertial Navigation System (MAINS) for indoor navigation is proposed in this paper. MAINS leverages an array of magnetometers to measure spatial variations in the magnetic field, which are then used to estimate the…

Autonomous navigation of ground robots has been widely used in indoor structured 2D environments, but there are still many challenges in outdoor 3D unstructured environments, especially in rough, uneven terrains. This paper proposed a…

Machine learning algorithms, such as Support Vector Machine (SVM) and Deep Neural Network (DNN), have gained a lot of interests recently. When training a machine learning algorithm, randomly shuffle all the training data can improve the…

Vision based control of Unmanned Aerial Vehicles (UAVs) has been adopted by a wide range of applications due to the availability of low-cost on-board sensors and computers. Tuning such systems to work properly requires extensive domain…

3D Gaussian splatting (3DGS) has recently demonstrated impressive capabilities in real-time novel view synthesis and 3D reconstruction. However, 3DGS heavily depends on the accurate initialization derived from Structure-from-Motion (SfM)…

3D Gaussian Splatting has emerged as a powerful approach in novel view synthesis, delivering rapid training and rendering but at the cost of an ever-growing set of Gaussian primitives that strains memory and bandwidth. We introduce…

This paper introduces a closed-form least-squares (LS) design approach for fast-convolution (FC) based variable-bandwidth (VBW) finite-impulse-response (FIR) filters. The proposed LS design utilizes frequency sampling and the VBW filter…

A single rolling-shutter (RS) image may be viewed as a row-wise combination of a sequence of global-shutter (GS) images captured by a (virtual) moving GS camera within the exposure duration. Although RS cameras are widely used, the RS…

In this paper, we propose a novel visual tracking framework that intelligently discovers reliable patterns from a wide range of video to resist drift error for long-term tracking tasks. First, we design a Discrete Fourier Transform (DFT)…

This work addresses the problem of tracking maneuvering objects with complex motion patterns, a task in which conventional methods often struggle due to their reliance on predefined motion models. We integrate a data-driven liquid neural…

While 3D Gaussian Splatting (3DGS) enabled photorealistic mapping, its integration into SLAM has largely followed traditional camera-centric pipelines. As a result, they inherit well-known weaknesses such as high computational load, failure…

Scene Dynamic Recovery (SDR) by inverting distorted Rolling Shutter (RS) images to an undistorted high frame-rate Global Shutter (GS) video is a severely ill-posed problem due to the missing temporal dynamic information in both RS…

Achieving invariance to nuisance transformations is a fundamental challenge in the construction of robust and reliable vision systems. Existing approaches to invariance scale exponentially with the dimension of the family of…