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This paper introduces extremum seeking (ES) algorithms designed to achieve perfect tracking of arbitrary time-varying extremum. In contrast to classical ES approaches that employ constant frequencies and controller gains, our algorithms…

Deep learning has been used to demonstrate end-to-end neural network learning for autonomous vehicle control from raw sensory input. While LiDAR sensors provide reliably accurate information, existing end-to-end driving solutions are mainly…

Accurate camera localization is an essential part of tracking systems. However, localization results are greatly affected by illumination. Including data collected under various lighting conditions can improve the robustness of the…

The Expectation-Maximization algorithm is perhaps the most broadly used algorithm for inference of latent variable problems. A theoretical understanding of its performance, however, largely remains lacking. Recent results established that…

In the last decades, Light Detection And Ranging (LiDAR) technology has been extensively explored as a robust alternative for self-localization and mapping. These approaches typically state ego-motion estimation as a non-linear optimization…

We investigate convergence of alternating Bregman projections between non-convex sets and prove convergence to a point in the intersection, or to points realizing a gap between the two sets. The speed of convergence is generally sub-linear,…

Expectation Maximization (EM) algorithm is a parameter estimation method from incomplete observations. In this paper, an implementation of this method to the calibration of HKS spectrometer at Jefferson Lab is described. We show that the…

The motivation of this paper is to address the problem of registering airborne LiDAR data and optical aerial or satellite imagery acquired from different platforms, at different times, with different points of view and levels of detail. In…

Monitoring urban tree dynamics is vital for supporting greening policies and reducing risks to electrical infrastructure. Airborne laser scanning has advanced large-scale tree management, but challenges remain due to complex urban…

We show that a large class of Estimation of Distribution Algorithms, including, but not limited to, Covariance Matrix Adaption, can be written as a Monte Carlo Expectation-Maximization algorithm, and as exact EM in the limit of infinite…

Finding an exact maximum distance of two points in the given set is a fundamental computational problem which is solved in many applications. This paper presents a fast, simple to implement and robust algorithm for finding this maximum…

This paper presents a large-scale strip adjustment method for LiDAR mobile mapping data, yielding highly precise maps. It uses several concepts to achieve scalability. First, an efficient graph-based pre-segmentation is used, which directly…

Ellipsoid fitting is of general interest in machine vision, such as object detection and shape approximation. Most existing approaches rely on the least-squares fitting of quadrics, minimizing the algebraic or geometric distances, with…

We study the problem of efficiently approximating the \textit{effective resistance} (ER) on undirected graphs, where ER is a widely used node proximity measure with applications in graph spectral sparsification, multi-class graph…

We propose an algorithm for automatic, targetless, extrinsic calibration of a LiDAR and camera system using semantic information. We achieve this goal by maximizing mutual information (MI) of semantic information between sensors, leveraging…

We analyze a probabilistic algorithm for matching shapes modeled by planar regions under translations and rigid motions (rotation and translation). Given shapes $A$ and $B$, the algorithm computes a transformation $t$ such that with high…

In this paper we provide a computation algorithm to get a global solution for the maximum rank correlation estimator using the mixed integer programming (MIP) approach. We construct a new constrained optimization problem by transforming all…

The Expectation-Maximisation (EM) algorithm is a central tool in statistics and machine learning, widely used for latent-variable models such as Gaussian Mixture Models (GMMs). Despite its ubiquity, EM is typically treated as a…

Multiple Object Tracking (MOT) is crucial to autonomous vehicle perception. End-to-end transformer-based algorithms, which detect and track objects simultaneously, show great potential for the MOT task. However, most existing methods focus…

The fusion of sensor data from heterogeneous sensors is crucial for robust perception in various robotics applications that involve moving platforms, for instance, autonomous vehicle navigation. In particular, combining camera and lidar…