Related papers: Dual Quaternion SE(3) Synchronization with Recover…
Solving quaternion kinematical differential equations is one of the most significant problems in the automation, navigation, aerospace and aeronautics literatures. Most existing approaches for this problem neither preserve the norm of…
Existing 4D Gaussian Splatting (4DGS) methods struggle to accurately reconstruct dynamic scenes, often failing to resolve ambiguous pixel correspondences and inadequate densification in dynamic regions. We address these issues by…
3D reconstruction is a fundamental issue in many applications and the feature point matching problem is a key step while reconstructing target objects. Conventional algorithms can only find a small number of feature points from two images…
Electron ptychography enables dose-efficient atomic-resolution imaging, but conventional reconstruction algorithms suffer from noise sensitivity, slow convergence, and extensive manual hyperparameter tuning for regularization, especially in…
We propose a new central synergistic hybrid approach for global exponential stabilization on the Special Orthogonal group SO(3). We introduce a new switching concept relying on a central family of (possibly) non-differentiable potential…
We propose a novel formulation for phase synchronization -- the statistical problem of jointly estimating alignment angles from noisy pairwise comparisons -- as a nonconvex optimization problem that enforces consistency among the pairwise…
Two novel robust nonlinear stochastic full pose (i.e, attitude and position) estimators on the Special Euclidean Group SE(3) are proposed using the available uncertain measurements. The resulting estimators utilize the basic structure of…
Full 3D human pose reconstruction is a critical enabler for extended reality (XR) applications in future sixth generation (6G) networks, supporting immersive interactions in gaming, virtual meetings, and remote collaboration. However,…
Quantum metrology with entangled states in realistic noisy environments always suffers from decoherence. Therefore, the measurement precision is greatly reduced. Here we applied the dynamical decoupling method to protect the $N$-qubit…
We propose a clustering method that involves chaining four known techniques into a pipeline yielding an algorithm with stronger recovery guarantees than any of the four components separately. Given $n$ points in $\mathbb R^d$, the first…
This article is an exhaustive revision of concepts and formulas related to quaternions and rotations in 3D space, and their proper use in estimation engines such as the error-state Kalman filter. The paper includes an in-depth study of the…
Transformer architectures can effectively learn language-conditioned, multi-task 3D open-loop manipulation policies from demonstrations by jointly processing natural language instructions and 3D observations. However, although both the…
We derive a posteriori error estimates for the hybridizable discontinuous Galerkin (HDG) methods, including both the primal and mixed formulations, for the approximation of a linear second-order elliptic problem on conforming simplicial…
Predictive estimation, which comprises model calibration, model prediction, and validation, is a common objective when performing inverse uncertainty quantification (UQ) in diverse scientific applications. These techniques typically require…
Coupling normalizing flows allow for fast sampling and density evaluation, making them the tool of choice for probabilistic modeling of physical systems. However, the standard coupling architecture precludes endowing flows that operate on…
We study the orbit recovery problem under the rigid-motion group SE(n), where the objective is to reconstruct an unknown signal from multiple noisy observations subjected to unknown rotations and translations. This problem is fundamental in…
Deep Learning-based 2D/3D registration methods are highly robust but often lack the necessary registration accuracy for clinical application. A refinement step using the classical optimization-based 2D/3D registration method applied in…
We present a novel three-dimensional (3D) imaging approach that combines two-dimensional spatial Fourier-domain imaging techniques with traditional radar pulse compression to recover both cross-range and down-range scene information. The…
Accelerating the convergence of second-order optimization, particularly Newton-type methods, remains a pivotal challenge in algorithmic research. In this paper, we extend previous work on the \textbf{Quadratic Gradient (QG)} and rigorously…
Group synchronization plays a crucial role in global pipelines for Structure from Motion (SfM). Its formulation is nonconvex and it is faced with highly corrupted measurements. Cycle consistency has been effective in addressing these…