Related papers: Improved GNSS Positioning in Urban Environments Us…
Mapping and localization are crucial problems in robotics and autonomous driving. Recent advances in 3D Gaussian Splatting (3DGS) have enabled precise 3D mapping and scene understanding by rendering photo-realistic images. However, existing…
Global navigation satellite systems (GNSS) face significant challenges in urban and sub-urban areas due to non-line-of-sight (NLOS) propagation, multipath effects, and low received power levels, resulting in highly non-linear and…
Gaussian mixtures are a powerful and widely used tool to model non-Gaussian estimation problems. They are able to describe measurement errors that follow arbitrary distributions and can represent ambiguity in assignment tasks like point set…
Attitude determination is a popular application of Global Navigation Satellite Systems (GNSS). Many methods have been developed to solve the attitude determination problem with different performance offerings. We develop a constrained…
Estimating the absolute orientation of a local system relative to a global navigation satellite system (GNSS) reference often suffers from local minima and high dependency on satellite availability. Existing methods for this alignment task…
Achieving real-time Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian splatting (3DGS) in large-scale real-world environments remains challenging, as existing methods still struggle to jointly achieve low-latency pose…
We present a neural network for mitigating biased errors in pseudoranges to improve localization performance with data collected from mobile phones. A satellite-wise Multilayer Perceptron (MLP) is designed to regress the pseudorange bias…
The global averaged civilian positioning accuracy is still at meter level for all existing Global Navigation Satellite Systems (GNSSs), and the performance is even worse in urban areas. At lower altitudes than satellites, high altitude…
It is well known that in the presence of heteroscedasticity ordinary least squares estimator is not efficient. I propose a generalized automatic least squares estimator (GALS) that makes partial correction of heteroscedasticity based on a…
In urban environments, global navigation satellite system (GNSS) positioning is often compromised by signal blockages and multipath effects caused by buildings, leading to significant positioning errors. To address this issue, this study…
Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Satellite System (GNSS) measurements, a first attempt of this…
The physical position is crucial in location-aware services or protocols based on geographic information, where localization is performed given a set of sensor measurements for acquiring the position of an object with respect to a certain…
It is well-known that the noise associated with the collection of an astronomical image by a CCD camera is, in large part, Poissonian. One would expect, therefore, that computational approaches that incorporate this a priori information…
Implementing state estimation in low and medium voltage power distribution is still challenging given the scale of many networks and the reliance of traditional methods on a large number of measurements. This paper proposes a method to…
An asymptotically optimal blind calibration scheme of uniform linear arrays for narrowband Gaussian signals is proposed. Rather than taking the direct Maximum Likelihood (ML) approach for joint estimation of all the unknown model…
3D Gaussian Splatting has shown remarkable capabilities in novel view rendering tasks and exhibits significant potential for multi-view optimization.However, the original 3D Gaussian Splatting lacks color representation for inputs in…
Recent advances in 3D Gaussian Splatting (3DGS) have enabled real-time, photorealistic scene reconstruction. However, conventional 3DGS frameworks typically rely on sparse point clouds derived from Structure-from-Motion (SfM), which…
Absolute positioning is an essential factor for the arrival of autonomous driving. Global Navigation Satellites System (GNSS) receiver provides absolute localization for it. GNSS solution can provide satisfactory positioning in open or…
We consider least squares estimation in a general nonparametric regression model. The rate of convergence of the least squares estimator (LSE) for the unknown regression function is well studied when the errors are sub-Gaussian. We find…
In this paper, the problem of robust estimation and validation of location-scale families is revisited. The proposed methods exploit the joint asymptotic normality of sample quantiles (of i.i.d random variables) to construct the ordinary…