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The use of Kalman filtering, as well as its nonlinear extensions, for the estimation of system variables and parameters has played a pivotal role in many fields of scientific inquiry where observations of the system are restricted to a…
This paper focuses on designing a consistent and efficient filter for map-based visual-inertial localization. First, we propose a new Lie group with its algebra, based on which a novel invariant extended Kalman filter (invariant EKF) is…
While LiDAR and cameras are becoming ubiquitous for unmanned aerial vehicles (UAVs) but can be ineffective in challenging environments, 4D millimeter-wave (MMW) radars that can provide robust 3D ranging and Doppler velocity measurements are…
5G-based mmWave wireless positioning has emerged as a promising solution for autonomous vehicle (AV) positioning in recent years. Previous studies have highlighted the benefits of fusing a line-of-sight (LoS) 5G positioning solution with an…
This paper addresses the problem of accurate localization for quadrupedal robots operating in narrow tunnel-like environments. Due to the long and homogeneous characteristics of such scenarios, LiDAR measurements often provide weak…
Integrated sensing and communication (ISAC) is a promising paradigm for next-generation vehicular networks, yet existing orthogonal frequency-division multiplexing (OFDM)-based designs suffer from limited spatial diversity and severe…
To implement autonomous driving, one essential step is to model the vehicle environment based on the sensor inputs. Radars, with their well-known advantages, became a popular option to infer the occupancy state of grid cells surrounding the…
Attitude estimation is crucial in aerospace engineering, robotics, and virtual reality applications, but faces difficulties due to nonlinear system dynamics and sensor limitations. This paper addresses the challenge of attitude estimation…
Geometry of the state space is known to play a crucial role in many applications of Kalman filters, especially robotics and motion tracking. The Lie group-centric approach is currently very common, although a Riemannian approach has also…
Synthetic aperture radar (SAR) tomography (TomoSAR) enables the reconstruction and three-dimensional (3D) localization of targets based on multiple two-dimensional (2D) observations of the same scene. The resolving along the elevation…
The extended Kalman filter is perhaps the most standard tool to estimate in real time the state of a dynamical system from noisy measurements of some function of the system, with extensive practical applications (such as position tracking…
Magnetometer and inertial sensors are widely used for orientation estimation. Magnetometer usage is often troublesome, as it is prone to be interfered by onboard or ambient magnetic disturbance. The onboard soft-iron material distorts not…
In this paper, we propose an algorithm for channel estimation, acquisition and tracking, for orthogonal frequency division multiplexing (OFDM) systems. The proposed algorithm is suitable for vehicular communications that encounter very high…
Pose estimation is a crucial problem in simultaneous localization and mapping (SLAM). However, developing a robust and consistent state estimator remains a significant challenge, as the traditional extended Kalman filter (EKF) struggles to…
The Kalman filter is the most powerful tool for estimation of the states of a linear Gaussian system. In addition, using this method, an expectation maximization algorithm can be used to estimate the parameters of the model. However, this…
Seismic tomography has long been an effective tool for constructing reliable subsurface structures. However, simultaneous inversion of P- and S-wave velocities presents a significant challenge for conventional seismic tomography methods,…
Ising machines are emerging as a powerful physical alternative to digital processors for solving combinatorial optimization problems. Among them, spatial photonic Ising machines (SPIMs) offer compact, room-temperature hardware with…
This paper considers the Linear Minimum Variance recursive state estimation for the linear discrete time dynamic system with random state transition and measurement matrices, i.e., random parameter matrices Kalman filtering. It is shown…
A Kalman Filter alignment algorithm has been applied to cosmic-ray data. We discuss the alignment algorithm and an experiment-independent implementation including outlier rejection and treatment of weakly determined parameters. Using this…
This paper proposes a novel kernel-based optimization scheme to handle tasks in the analysis, e.g., signal spectral estimation and single-channel source separation of 1D non-stationary oscillatory data. The key insight of our optimization…