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Rotation averaging is a key subproblem in applications of computer vision and robotics. Many methods for solving this problem exist, and there are also several theoretical results analyzing difficulty and optimality. However, one aspect…
This work introduces a moving anchor acceleration technique to extragradient algorithms for smooth structured minimax problems. The moving anchor is introduced as a generalization of the original algorithmic anchoring framework, i.e. the…
This paper studies a coordinate alignment problem for cooperative mobile sensor network localization with range-based measurements. The network consists of target nodes, each of which has only access position information in a local fixed…
We consider the acoustic-n-point (AnP) problem, which estimates the pose of a 2D forward-looking sonar (FLS) according to n 3D-2D point correspondences. We explore the nature of the measured partial spherical coordinates and reveal their…
Many important geometric estimation problems take the form of synchronization over the special Euclidean group: estimate the values of a set of poses given a set of relative measurements between them. This problem is typically formulated as…
Randomized Smoothing (RS) is considered the state-of-the-art approach to obtain certifiably robust models for challenging tasks. However, current RS approaches drastically decrease standard accuracy on unperturbed data, severely limiting…
Pose estimation is a widely explored problem, enabling many robotic tasks such as grasping and manipulation. In this paper, we tackle the problem of pose estimation for objects that exhibit rotational symmetry, which are common in man-made…
The goal of acoustic (or sound) events detection (AED or SED) is to predict the temporal position of target events in given audio segments. This task plays a significant role in safety monitoring, acoustic early warning and other scenarios.…
Tacho-less rotational speed estimation is critical for vibration-based prognostics and health management (PHM) of rotating machinery, yet traditional methods--such as time-domain periodicity, cepstrum, and harmonic comb matching--struggle…
ASR Error Detection (AED) models aim to post-process the output of Automatic Speech Recognition (ASR) systems, in order to detect transcription errors. Modern approaches usually use text-based input, comprised solely of the ASR…
Accurate estimation of the environment structure simultaneously with the robot pose is a key capability of autonomous robotic vehicles. Classical simultaneous localization and mapping (SLAM) algorithms rely on the static world assumption to…
In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in $SE(3)$. The robots do not know the mass or friction properties of the object, or where they are attached to the…
This Letter proposes a rescaled adaptive coupling scheme for the synchronization of spatially extended systems. Coupling and synchronization are analyzed from the point view of image filter construction. A length rescaling technique is…
Although recently several foundation models for satellite remote sensing imagery have been proposed, they fail to address major challenges of real/operational applications. Indeed, embeddings that don't take into account the spectral,…
Incomplete multi-view clustering presents significant challenges due to missing views. Although many existing graph-based methods aim to recover missing instances or complete similarity matrices with promising results, they still face…
This dissertation advances the state of the art for AR/VR tracking systems by increasing the tracking frequency by orders of magnitude and proposes an efficient algorithm for the problem of edge-aware optimization. AR/VR is a natural way of…
This paper investigates the problem of pose synchronization for multiple rigid body systems evolving on the matrix Lie group $\SE(3)$. We propose a distributed hybrid feedback control scheme with global asymptotic stability guarantees using…
Many geometric estimation problems take the form of synchronization over the special Euclidean group: estimate the values of a set of poses given noisy measurements of a subset of their pairwise relative transforms. This problem is…
We propose three novel metrics for evaluating the accuracy of a set of estimated camera poses given the ground truth: Translation Alignment Score (TAS), Rotation Alignment Score (RAS), and Pose Alignment Score (PAS). The TAS evaluates the…
Symmetric objects are common in daily life and industry, yet their inherent orientation ambiguities that impede the training of deep learning networks for pose estimation are rarely discussed in the literature. To cope with these…