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Light Detection and Ranging (LiDAR) based Simultaneous Localization and Mapping (SLAM) has drawn increasing interests in autonomous driving. However, LiDAR-SLAM suffers from accumulating errors which can be significantly mitigated by Global…
The Graphical Lasso (GLasso) algorithm is fast and widely used for estimating sparse precision matrices (Friedman et al., 2008). Its central role in the literature of high-dimensional covariance estimation rivals that of Lasso regression…
This paper concerns the estimation problem of attitude, position, and linear velocity of a rigid-body autonomously navigating with six degrees of freedom (6 DoF). The navigation dynamics are highly nonlinear and are modeled on the matrix…
In urban environments, where line-of-sight signals from GNSS satellites are frequently blocked by high-rise objects, GNSS receivers are subject to large errors in measuring satellite ranges. Heuristic methods are commonly used to estimate…
Nowadays, analysing data from different classes or over a temporal grid has attracted a great deal of interest. As a result, various multiple graphical models for learning a collection of graphical models simultaneously have been derived by…
Recent advances in 3D Gaussian Splatting (3DGS) have focused on accelerating optimization while preserving reconstruction quality. However, many proposed methods entangle implementation-level improvements with fundamental algorithmic…
Accurate robot odometry is essential for autonomous navigation. While numerous techniques have been developed based on various sensor suites, odometry estimation using only radar and IMU remains an underexplored area. Radar proves…
In robotic navigation, maintaining precise pose estimation and navigation in complex and dynamic environments is crucial. However, environmental challenges such as smoke, tunnels, and adverse weather can significantly degrade the…
Motivated by increasing penetration of distributed generators (DGs) and fast development of micro-phasor measurement units ({\mu}PMUs), this paper proposes a novel graph-based faulted line identification algorithm using a limited number of…
Visual navigation with an image as goal is a fundamental and challenging problem. Conventional methods either rely on end-to-end RL learning or modular-based policy with topological graph or BEV map as memory, which cannot fully model the…
Machine learning models exhibit strong performance on datasets with abundant labeled samples. However, for tabular datasets with extremely high $d$-dimensional features but limited $n$ samples (i.e. $d \gg n$), machine learning models…
The graphical lasso \citep{FHT2007a} is an algorithm for learning the structure in an undirected Gaussian graphical model, using $\ell_1$ regularization to control the number of zeros in the precision matrix ${\B\Theta}={\B\Sigma}^{-1}$…
The rapid growth of 3D Gaussian Splatting (3DGS) has revolutionized neural rendering, enabling real-time production of high-quality renderings. However, the previous 3DGS-based methods have limitations in urban scenes due to reliance on…
Android raw Global Navigation Satellite System (GNSS) measurements are expected to bring smartphones power to take on demanding localization tasks that are traditionally performed by specialized GNSS receivers. The hardware constraints,…
We address the problem of robot localization using ground penetrating radar (GPR) sensors. Current approaches for localization with GPR sensors require a priori maps of the system's environment as well as access to approximate global…
In this paper, we propose a low complexity graph-based linear minimum mean square error (LMMSE) equalizer in order to remove inter-symbol and inter-stream interference in multiple input multiple output (MIMO) communication. The proposed…
Optimal transport between graphs, based on Gromov-Wasserstein and other extensions, is a powerful tool for comparing and aligning graph structures. However, solving the associated non-convex optimization problems is computationally…
Field-Programmable Gate Arrays (FPGAs) are widely used in the central signal processing design of the Square Kilometre Array (SKA) as acceleration hardware. The frequency domain acceleration search (FDAS) module is an important part of the…
The U.S. global position system (GPS) is one of the existing global navigation satellite systems (GNSS) that provides position and time information for users in civil, commercial and military backgrounds. Because of its reliance on many…
3D gaussian splatting has advanced simultaneous localization and mapping (SLAM) technology by enabling real-time positioning and the construction of high-fidelity maps. However, the uncertainty in gaussian position and initialization…