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Anderson Acceleration (AA) is a method to accelerate the convergence of fixed point iterations for nonlinear, algebraic systems of equations. Due to the requirement of solving a least squares problem at each iteration and a reliance on…
In industry, machine anomalous sound detection (ASD) is in great demand. However, collecting enough abnormal samples is difficult due to the high cost, which boosts the rapid development of unsupervised ASD algorithms. Autoencoder (AE)…
Hand-eye calibration is an important and extensively researched method for calibrating rigidly coupled sensors, solely based on estimates of their motion. Due to the geometric structure of this problem, at least two motion estimates with…
Absolute pose estimation is a fundamental problem in computer vision, and it is a typical parameter estimation problem, meaning that efforts to solve it will always suffer from outlier-contaminated data. Conventionally, for a fixed…
Autoregressive (AR) time series models are widely used in parametric spectral estimation (SE), where the power spectral density (PSD) of the time series is approximated by that of the \emph{best-fit} AR model, which is available in closed…
Our paper proposes a direct sparse visual odometry method that combines event and RGB-D data to estimate the pose of agile-legged robots during dynamic locomotion and acrobatic behaviors. Event cameras offer high temporal resolution and…
Attitude estimation is the process of computing the orientation angles of an object with respect to a fixed frame of reference. Gyroscope, accelerometer, and magnetometer are some of the fundamental sensors used in attitude estimation. The…
Multi-time-scale stochastic approximation is an iterative algorithm for finding the fixed point of a set of $N$ coupled operators given their noisy samples. It has been observed that due to the coupling between the decision variables and…
The $\mathrm{SE}(3)$ invariants of a pose include its rotation angle and screw translation. In this paper, we present a complete comprehensive study of the relative pose estimation problem for a calibrated camera constrained by known…
This paper addresses the issue of matching rigid and articulated shapes through probabilistic point registration. The problem is recast into a missing data framework where unknown correspondences are handled via mixture models. Adopting a…
In this paper, a method for Automatic Image Registration (AIR) through histogram is proposed. Automatic image registration is one of the crucial steps in the analysis of remotely sensed data. A new acquired image must be transformed, using…
This paper introduces a generic filter-based state estimation framework that supports two state-decoupling strategies based on cross-covariance factorization. These strategies reduce the computational complexity and inherently support true…
This paper presents a novel online capable method for simultaneous estimation of human motion in terms of segment orientations and positions along with sensor-to-segment calibration parameters from inertial sensors attached to the body. In…
We develop an edge-assisted object recognition system with the aim of studying the system-level trade-offs between end-to-end latency and object recognition accuracy. We focus on developing techniques that optimize the transmission delay of…
We introduce a new paradigm, $\textit{measure synchronization}$, for synchronizing graphs with measure-valued edges. We formulate this problem as maximization of the cycle-consistency in the space of probability measures over relative…
Smartphones equipped with sensors such as accelerometers, gyroscopes, and magnetometers offer valuable opportunities for physics education, allowing students to measure motion using their own devices. However, commonly used applications…
Although deep learning algorithms are widely used for improving speech enhancement (SE) performance, the performance remains limited under highly challenging conditions, such as unseen noise or noise signals having low signal-to-noise…
Rigid body localization refers to a problem of estimating the position of a rigid body along with its orientation using anchors. We consider a setup in which a few sensors are mounted on a rigid body. The absolute position of the rigid body…
The demands on robotic manipulation skills to perform challenging tasks have drastically increased in recent times. To perform these tasks with dexterity, robots require perception tools to understand the scene and extract useful…
An inexact accelerated stochastic Alternating Direction Method of Multipliers (AS-ADMM) scheme is developed for solving structured separable convex optimization problems with linear constraints. The objective function is the sum of a…