Related papers: Improved GNSS Positioning in Urban Environments Us…
The local least squares estimator for a regression curve cannot provide optimal results when non-Gaussian noise is present. Both theoretical and empirical evidence suggests that residuals often exhibit distributional properties different…
A vehicular pose estimation technique is presented that tightly couples multi-antenna carrier-phase differential GNSS (CDGNSS) with a low-cost MEMS inertial sensor and vehicle dynamics constraints. This work is the first to explore the use…
We introduce a novel semi-supervised version of the least squares classifier. This implicitly constrained least squares (ICLS) classifier minimizes the squared loss on the labeled data among the set of parameters implied by all possible…
In almost any geostatistical analysis, one of the underlying, often implicit, modelling assump- tions is that the spatial locations, where measurements are taken, are recorded without error. In this study we develop geostatistical inference…
The class of Lq-regularized least squares (LQLS) are considered for estimating a p-dimensional vector \b{eta} from its n noisy linear observations y = X\b{eta}+w. The performance of these schemes are studied under the high-dimensional…
An important step in a multi-sensor surveillance system is to estimate sensor biases from their noisy asynchronous measurements. This estimation problem is computationally challenging due to the highly nonlinear transformation between the…
Distance Geometry Problem (DGP) and Nonlinear Mapping (NLM) are two well established questions: Distance Geometry Problem is about finding a Euclidean realization of an incomplete set of distances in a Euclidean space, whereas Nonlinear…
Today the global averaged civilian positioning accuracy is still at meter level for all existing Global Navigation Satellite Systems (GNSSs), and the civilian positioning performance is even worse in regions such as the Arctic region and…
Accurate and globally referenced global navigation satellite system (GNSS) based vehicular positioning can be achieved in outlier-free open areas. However, the performance of GNSS can be significantly degraded by outlier measurements, such…
Accurate outdoor localization in Non-Line-of-Sight (NLoS) environments remains a critical challenge for wireless communication and sensing systems. Existing methods, including positioning based on the Global Navigation Satellite System…
Modern unmanned aerial vehicles (UAVs) are irreplaceable in search and rescue (SAR) missions to obtain a situational overview or provide closeups without endangering personnel. However, UAVs heavily rely on global navigation satellite…
Reconfigurable Intelligent Surfaces (RIS) show great promise in the realm of 6th generation (6G) wireless systems, particularly in the areas of localization and communication. Their cost-effectiveness and energy efficiency enable the…
Integrating Global Navigation Satellite Systems (GNSS) in Simultaneous Localization and Mapping (SLAM) systems draws increasing attention to a global and continuous localization solution. Nonetheless, in dense urban environments, GNSS-based…
Accurate and affordable indoor 3D reconstruction is critical for effective robot navigation and interaction. Traditional LiDAR-based mapping provides high precision but is costly, heavy, and power-intensive, with limited ability for novel…
We present a statistical framework for estimating global navigation satellite system (GNSS) non-ionospheric differential time delay bias. The biases are estimated by examining differences of measured line integrated electron densities (TEC)…
We consider the problem of signal estimation in a generalized linear model (GLM). GLMs include many canonical problems in statistical estimation, such as linear regression, phase retrieval, and 1-bit compressed sensing. Recent work has…
Linear Least Squares is a very well known technique for parameter estimation, which is used even when sub-optimal, because of its very low computational requirements and the fact that exact knowledge of the noise statistics is not required.…
In regions where global navigation satellite systems (GNSS) signals are unavailable, such as underground areas and tunnels, GNSS simulators can be deployed for transmitting simulated GNSS signals. Then, a GNSS receiver in the simulator…
In robot localisation and mapping, outliers are unavoidable when loop-closure measurements are taken into account. A single false-positive loop-closure can have a very negative impact on SLAM problems causing an inferior trajectory to be…
Logan's graphical analysis (LGA) is a widely-used approach for quantification of biochemical and physiological processes from Positron emission tomography (PET) image data. A well-noted problem associated with the LGA method is the bias in…