Related papers: SNGR: Selective Non-Gaussian Refinement for Ambigu…

Gaussian Graphical Models (GGM) are often used to describe the conditional correlations between the components of a random vector. In this article, we compare two families of GGM inference methods: nodewise edge selection and penalised…

Attribute-missing graph clustering has emerged as a significant unsupervised task, where only attribute vectors of partial nodes are available and the graph structure is intact. The related models generally follow the two-step paradigm of…

Recent advances in machine learning have demonstrated an enormous utility of deep learning approaches, particularly Graph Neural Networks (GNNs) for materials science. These methods have emerged as powerful tools for high-throughput…

We present a robust visual-inertial SLAM system that combines the benefits of Convolutional Neural Networks (CNNs) and planar constraints. Our system leverages a CNN to predict the depth map and the corresponding uncertainty map for each…

Modern LiDAR-SLAM (L-SLAM) systems have shown excellent results in large-scale, real-world scenarios. However, they commonly have a high latency due to the expensive data association and nonlinear optimization. This paper demonstrates that…

We introduce the spike-and-slab group lasso (SSGL) for Bayesian estimation and variable selection in linear regression with grouped variables. We further extend the SSGL to sparse generalized additive models (GAMs), thereby introducing the…

Many problems in robotics involve both continuous and discrete components, and modeling them together for estimation tasks has been a long standing and difficult problem. Hybrid Factor Graphs give us a mathematical framework to model these…

Uncertainty estimation in large deep-learning models is a computationally challenging task, where it is difficult to form even a Gaussian approximation to the posterior distribution. In such situations, existing methods usually resort to a…

We consider sparseness properties of adaptive time-frequency representations obtained using nonstationary Gabor frames (NSGFs). NSGFs generalize classical Gabor frames by allowing for adaptivity in either time or frequency. It is known that…

Traditional SLAM algorithms excel at camera tracking, but typically produce incomplete and low-resolution maps that are not tightly integrated with semantics prediction. Recent work integrates Gaussian Splatting (GS) into SLAM to enable…

Causal discovery methods are intrinsically constrained by the set of assumptions needed to ensure structure identifiability. Moreover additional restrictions are often imposed in order to simplify the inference task: this is the case for…

This paper presents the first photo-realistic LiDAR-Inertial-Camera Gaussian Splatting SLAM system that simultaneously addresses visual quality, geometric accuracy, and real-time performance. The proposed method performs robust and accurate…

When an agent, person, vehicle or robot is moving through an unknown environment without GNSS signals, online mapping of nonlinear terrains can be used to improve position estimates when the agent returns to a previously mapped area.…

Simultaneous localization and mapping (SLAM) based on particle filtering has been extensively employed in indoor scenarios due to its high efficiency. However, in geometry feature-less scenes, the accuracy is severely reduced due to lack of…

3D Gaussian Splatting (3DGS) based Simultaneous Localization and Mapping (SLAM) systems can largely benefit from 3DGS's state-of-the-art rendering efficiency and accuracy, but have not yet been adopted in resource-constrained edge devices…

Most real-world networks are noisy and incomplete samples from an unknown target distribution. Refining them by correcting corruptions or inferring unobserved regions typically improves downstream performance. Inspired by the impressive…

This paper is concerned with a partially linear semiparametric regression model containing an unknown regression coefficient, an unknown nonparametric function, and an unobservable Gaussian distributed random error. We focus on the case of…

Graph Neural Networks (GNNs) have achieved impressive performance in collaborative filtering. However, GNNs tend to yield inferior performance when the distributions of training and test data are not aligned well. Also, training GNNs…

Recently, 3D Gaussian Splatting has emerged as a prominent research direction owing to its ultrarapid training speed and high-fidelity rendering capabilities. However, the unstructured and irregular nature of Gaussian point clouds poses…

3D Gaussian Splatting (3DGS) has achieved impressive rendering performance in novel view synthesis. However, its efficacy diminishes considerably in sparse image sequences, where inherent data sparsity amplifies geometric uncertainty during…