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Inertial sensors based on micro-electromechanical systems (MEMS) technology, such as accelerometers and angular rate sensors, are cost-effective solutions used in inertial navigation systems in a broad spectrum of applications that estimate…
Reliable Human Orientation Estimation (HOE) from a monocular image is critical for autonomous agents to understand human intention. Significant progress has been made in HOE under full observation. However, the existing methods easily make…
The need for accurate SQL progress estimation in the context of decision support administration has led to a number of techniques proposed for this task. Unfortunately, no single one of these progress estimators behaves robustly across the…
Verification bias is a well known problem when the predictive ability of a diagnostic test has to be evaluated. In this paper, we discuss how to assess the accuracy of continuous-scale diagnostic tests in the presence of verification bias,…
Magnetometer has received wide applications in attitude determination and scientific measurements. Calibration is an important step for any practical magnetometer use. The most popular three-axis magnetometer calibration methods are…
Visual validation of regression models in scatterplots is a common practice for assessing model quality, yet its efficacy remains unquantified. We conducted two empirical experiments to investigate individuals' ability to visually validate…
This paper presents a large-scale strip adjustment method for LiDAR mobile mapping data, yielding highly precise maps. It uses several concepts to achieve scalability. First, an efficient graph-based pre-segmentation is used, which directly…
The measurability by means of continuous measurements, of an observable $\A(t_0)$, at an instant, and of a time averaged observable, $\bar \A=1/T\int \A(t')dt'$, is examined for linear and in particular for non-linear quantum mechanical…
Accurate extrinsic sensor calibration is essential for both autonomous vehicles and robots. Traditionally this is an involved process requiring calibration targets, known fiducial markers and is generally performed in a lab. Moreover, even…
Consistent motion estimation is fundamental for all mobile autonomous systems. While this sounds like an easy task, often, it is not the case because of changing environmental conditions affecting odometry obtained from vision, Lidar, or…
This paper presents a simple algebraic method to estimate the pose of a camera relative to a planar target from $n \geq 4$ reference points with known coordinates in the target frame and their corresponding bearing measurements in the…
This paper proposes a novel method for testing observability in Gaussian models using discrete density approximations (deterministic samples) of (multivariate) Gaussians. Our notion of observability is defined by the existence of the…
This paper introduces a new linear parameterization to the problem of visual inertial simultaneous localization and mapping (VI-SLAM) -- without any approximation -- for the case only using information from a single monocular camera and an…
Precise 6-DoF simultaneous localization and mapping (SLAM) from onboard sensors is critical for wearable devices capturing egocentric data, which exhibits specific challenges, such as a wider diversity of motions and viewpoints, prevalent…
In partially linear single-index models, we obtain the semiparametrically efficient profile least-squares estimators of regression coefficients. We also employ the smoothly clipped absolute deviation penalty (SCAD) approach to…
Measuring time delays between the multiple images of gravitationally lensed quasars is now recognized as a competitive way to constrain the cosmological parameters, and it is complementary with other cosmological probes. This requires long…
Layered control is essential for managing complexity in large-scale systems, employing progressively coarser models at higher layers. While significant advances have been made for fully observable systems, the theoretical foundations of…
We develop and apply the position angle-only shear estimator of Whittaker et al. (2014) to realistic galaxy images. This is done by demonstrating the method on the simulations of the GREAT3 challenge (Mandelbaum et al. 2014b), which include…
We introduce a new hybrid control strategy, which is conceptually different from the commonly used synergistic hybrid approaches, to efficiently deal with the problem of the undesired equilibria that precludes smooth vectors fields on…
Accurate and robust extrinsic calibration is necessary for deploying autonomous systems which need multiple sensors for perception. In this paper, we present a robust system for real-time extrinsic calibration of multiple lidars in vehicle…