相关论文: Rethinking Trajectory Evaluation for SLAM: a Proba…

Loop closure detection is the process involved when trying to find a match between the current and a previously visited locations in SLAM. Over time, the amount of time required to process new observations increases with the size of the…

Regression analysis is a standard supervised machine learning method used to model an outcome variable in terms of a set of predictor variables. In most real-world applications we do not know the true value of the outcome variable being…

Current evaluations of mathematical reasoning in large language models (LLMs) are dominated by static benchmarks, either derived from competition-style problems or curated through costly expert effort, resulting in limited coverage of…

Many applications -- from planning and scheduling to problems in molecular biology -- rely heavily on a temporal reasoning component. In this paper, we discuss the design and empirical analysis of algorithms for a temporal reasoning system…

We consider the approximation of the performance of random walks in the quarter-plane. The approximation is in terms of a random walk with a product-form stationary distribution, which is obtained by perturbing the transition probabilities…

Predicting the movement trajectories of multiple classes of road users in real-world scenarios is a challenging task due to the diverse trajectory patterns. While recent works of pedestrian trajectory prediction successfully modelled the…

A robust nonlinear stochastic observer for simultaneous localization and mapping (SLAM) is proposed using the available uncertain measurements of angular velocity, translational velocity, and features. The proposed observer is posed on the…

Simultaneous localization and mapping (SLAM) in slowly varying scenes is important for long-term robot task completion. Failing to detect scene changes may lead to inaccurate maps and, ultimately, lost robots. Classical SLAM algorithms…

This chapter describes a novel approach for the treatment of model error in geophysical data assimilation. In this method, model error is treated as a deterministic process fully correlated in time. This allows for the derivation of the…

We propose an online spatiotemporal articulation model estimation framework that estimates both articulated structure as well as a temporal prediction model solely using passive observations. The resulting model can predict future mo- tions…

In point-line SLAM systems, the utilization of line structural information and the optimization of lines are two significant problems. The former is usually addressed through structural regularities, while the latter typically involves…

Long-term time series forecasting (LTSF) is widely recognized as a central challenge in data mining and machine learning. LTSF has increasingly evolved into a benchmark-driven ''GAME,'' where models are ranked, compared, and declared…

SLAM (Simultaneous Localization and mapping) is one of the most challenging problems for mobile platforms and there is a huge amount of modern SLAM algorithms. The choice of the algorithm that might be used in every particular problem…

The aim of this article is to promote the use of probabilistic methods in the study of problems in mathematical general relativity. Two new and simple singularity theorems, whose features are different from the classical singularity…

We present a general mathematical framework for trajectory stratification for simulating rare events. Trajectory stratification involves decomposing trajectories of the underlying process into fragments limited to restricted regions of…

In the data deluge context, pattern recognition or labeling in streams is becoming quite an essential and pressing task as data flows inside always bigger streams. The assessment of such tasks is not so easy when dealing with temporal data,…

Data assimilation refers to the problem of finding trajectories of a prescribed dynamical model in such a way that the output of the model (usually some function of the model states) follows a given time series of observations. Typically…

There is a burgeoning discussion around the capabilities of Large Language Models (LLMs) in acting as fundamental components that can be seamlessly incorporated into Artificial Intelligence of Things (AIoT) to interpret complex…

Reachability analysis is at the core of many applications, from neural network verification, to safe trajectory planning of uncertain systems. However, this problem is notoriously challenging, and current approaches tend to be either too…

The problem of checking a logged event trace against a temporal logic specification arises in many practical cases. Unfortunately, known algorithms for an expressive logic like MTL (Metric Temporal Logic) do not scale with respect to two…