相关论文: FootSLAM meets Adaptive Thresholding

We embark on a hitherto unreported problem of an autonomous robot (self-driving car) navigating in dynamic scenes in a manner that reduces its localization error and eventual cumulative drift or Absolute Trajectory Error, which is…

Designing a humanoid locomotion controller is challenging and classically split up in sub-problems. Footstep planning is one of those, where the sequence of footsteps is defined. Even in simpler environments, finding a minimal sequence, or…

In this paper, we present a novel zero-shot camera calibration method that estimates camera parameters with no calibration image. It is common sense that we need at least one or more pattern images for camera calibration. However, the…

In this paper, we investigate the visual tracking problem for robotic systems without image-space velocity measurement, simultaneously taking into account the uncertainties of the camera model and the manipulator kinematics and dynamics. We…

In recent years, the Deep Learning Alternating Minimization (DLAM), which is actually the alternating minimization applied to the penalty form of the deep neutral networks training, has been developed as an alternative algorithm to overcome…

We present a new method to obtain spatio-temporal information from aggregated data of stationary traffic detectors, the ``adaptive smoothing method''. In essential, a nonlinear spatio-temporal lowpass filter is applied to the input detector…

Tuning hyperparameters, such as the stepsize, presents a major challenge of training machine learning models. To address this challenge, numerous adaptive optimization algorithms have been developed that achieve near-optimal complexities,…

Video Anomaly Detection (VAD) can play a key role in spotting unusual activities in video footage. VAD is difficult to use in real-world settings due to the dynamic nature of human actions, environmental variations, and domain shifts.…

Object SLAM is considered increasingly significant for robot high-level perception and decision-making. Existing studies fall short in terms of data association, object representation, and semantic mapping and frequently rely on additional…

Deep learning has emerged as an effective solution for solving the task of object detection in images but at the cost of requiring large labeled datasets. To mitigate this cost, semi-supervised object detection methods, which consist in…

In high-dimensional classification settings, we wish to seek a balance between high power and ensuring control over a desired loss function. In many settings, the points most likely to be misclassified are those who lie near the decision…

We propose an adaptive accelerated gradient method for solving smooth convex optimization problems. The method incorporates a scheme to determine the step size adaptively, by means of a local estimation of the smoothness constant, which is…

Simultaneous Localization and Mapping (SLAM) system typically employ vision-based sensors to observe the surrounding environment. However, the performance of such systems highly depends on the ambient illumination conditions. In scenarios…

Walking speed estimation is an essential component of mobile apps in various fields such as fitness, transportation, navigation, and health-care. Most existing solutions are focused on specialized medical applications that utilize body-worn…

In recent decades, visual simultaneous localization and mapping (vSLAM) has gained significant interest in both academia and industry. It estimates camera motion and reconstructs the environment concurrently using visual sensors on a moving…

We study the nonlinear observability of a systems states in view of how well they are observable and what control inputs would improve the convergence of their estimates. We use these insights to develop an observability-aware…

Existing supervised action segmentation methods depend on the quality of frame-wise classification using attention mechanisms or temporal convolutions to capture temporal dependencies. Even boundary detection-based methods primarily depend…

We develop approximation algorithms for set-selection problems with deterministic constraints, but random objective values, i.e., stochastic probing problems. When the goal is to maximize the objective, approximation algorithms for probing…

The visual SLAM method is widely used for self-localization and mapping in complex environments. Visual-inertia SLAM, which combines a camera with IMU, can significantly improve the robustness and enable scale weak-visibility, whereas…

In Change point detection task Likelihood Ratio Test (LRT) is sequentially applied in a sliding window procedure. Its high values indicate changes of parametric distribution in the data sequence. Correspondingly LRT values require…