Related papers: Outlier-Resistant Fusion for Multi-static Position…
The precise and accurate indoor positioning using cellular communication technology remains to be a prerequisite for several industrial applications, including the emergence of a new topic of Integrated Sensing and Communication (ISAC).…
The continuously increasing bandwidth and antenna aperture available in wireless networks laid the foundation for developing competitive positioning solutions relying on communications standards and hardware. However, poor propagation…
Reliable GNSS positioning in complex environments remains a critical challenge due to non-line-of-sight (NLOS) propagation, multipath effects, and frequent signal blockages. These effects can easily introduce large outliers into the raw…
5G positioning is a very promising area that presents many opportunities and challenges. Many existing techniques rely on multiple anchor nodes and line-of-sight (LOS) paths, or single reference node and single-bounce non-LOS (NLOS) paths.…
Spatial perception is the backbone of many robotics applications, and spans a broad range of research problems, including localization and mapping, point cloud alignment, and relative pose estimation from camera images. Robust spatial…
In this paper, the problem of target localization in the presence of outlying sensors is tackled. This problem is important in practice because in many real-world applications the sensors might report irrelevant data unintentionally or…
Outliers widely occur in big-data applications and may severely affect statistical estimation and inference. In this paper, a framework of outlier-resistant estimation is introduced to robustify an arbitrarily given loss function. It has a…
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…
Outlier feature matches and loop-closures that survived front-end data association can lead to catastrophic failures in the back-end optimization of large-scale point cloud based 3D reconstruction. To alleviate this problem, we propose a…
Multi-dimensional scaling (MDS) plays a central role in data-exploration, dimensionality reduction and visualization. State-of-the-art MDS algorithms are not robust to outliers, yielding significant errors in the embedding even when only a…
Approximate joint diagonalization of a set of matrices provides a powerful framework for numerous statistical signal processing applications. For non-unitary joint diagonalization (NUJD) based on the least-squares (LS) criterion, outliers,…
An outlier-resistance phase retrieval algorithm based on alternating direction method of multipliers (ADMM) is devised in this letter. Instead of the widely used least squares criterion that is only optimal for Gaussian noise environment,…
Integrated sensing and communication (ISAC) is anticipated to play a crucial role in sixth-generation (6G) mobile communication networks. A significant challenge in ISAC systems is the degradation of localization accuracy due to poor…
The intrinsic geometric connections between millimeter-wave (mmWave) signals and the propagation environment can be leveraged for simultaneous localization and mapping (SLAM) in 5G and beyond networks. However, estimated channel parameters…
Positioning problem can be solved with several approaches in 5G. This paper introduces RT (Ray Tracing) technique for small-cell Outdoor positioning and tracking for systems with distributed architecture with multipath processing gain.…
Despite the remarkable advancements in deep learning-based perception technologies and simultaneous localization and mapping (SLAM), one can face the failure of these approaches when robots encounter scenarios outside their modeled…
Coping with outliers contaminating dynamical processes is of major importance in various applications because mismatches from nominal models are not uncommon in practice. In this context, the present paper develops novel fixed-lag and…
Outlier rejection and equivalently inlier set optimization is a key ingredient in numerous applications in computer vision such as filtering point-matches in camera pose estimation or plane and normal estimation in point clouds. Several…
Nonlinear estimation in robotics and vision is typically plagued with outliers due to wrong data association, or to incorrect detections from signal processing and machine learning methods. This paper introduces two unifying formulations…
This paper introduces a novel and distributed method for detecting inter-map loop closure outliers in simultaneous localization and mapping (SLAM). The proposed algorithm does not rely on a good initialization and can handle more than two…