相关论文: Variational Filtering with Copula Models for SLAM

This paper considers errors-in-variables models in a high-dimensional setting where the number of covariates can be much larger than the sample size, and there are only a small number of non-zero covariates. The presence of measurement…

We are studying the problems of modeling and inference for multivariate count time series data with Poisson marginals. The focus is on linear and log-linear models. For studying the properties of such processes we develop a novel conceptual…

Structural equation models (SEMs) are fundamental to causal mediation pathway discovery. However, traditional SEM approaches often rely on \emph{ad hoc} model specifications when handling complex data structures such as mixed data types or…

Graphical models are an important tool in exploring relationships between variables in complex, multivariate data. Methods for learning such graphical models are well developed in the case where all variables are either continuous or…

In this paper, we present a multipath-based simultaneous localization and mapping (SLAM) algorithm that continuously adapts mulitiple map feature (MF) models describing specularly reflected multipath components (MPCs) from flat surfaces and…

To construct flexible nonlinear predictive distributions, the paper introduces a family of softplus function based regression models that convolve, stack, or combine both operations by convolving countably infinite stacked gamma…

Often of primary interest in the analysis of multivariate data are the copula parameters describing the dependence among the variables, rather than the univariate marginal distributions. Since the ranks of a multivariate dataset are…

By sampling from the latent space of an autoencoder and decoding the latent space samples to the original data space, any autoencoder can simply be turned into a generative model. For this to work, it is necessary to model the autoencoder's…

An algorithm for non-stationary spatial modelling using multiple secondary variables is developed. It combines Geostatistics with Quantile Random Forests to give a new interpolation and stochastic simulation algorithm. This paper introduces…

To model high dimensional data, Gaussian methods are widely used since they remain tractable and yield parsimonious models by imposing strong assumptions on the data. Vine copulas are more flexible by combining arbitrary marginal…

We consider distributed estimation of the inverse covariance matrix, also called the concentration or precision matrix, in Gaussian graphical models. Traditional centralized estimation often requires global inference of the covariance…

Challenging indoor and urban environments with severe multipath propagation and obstructed LoS (OLoS) degrade classical radio frequency (RF) positioning. Multipath-based simultaneous localization and mapping (MP-SLAM) is a promising remedy,…

The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…

We propose a novel online learning algorithm, called SpCoSLAM 2.0, for spatial concepts and lexical acquisition with high accuracy and scalability. Previously, we proposed SpCoSLAM as an online learning algorithm based on unsupervised…

Multivariate spatial-statistical models are often used when modeling environmental and socio-demographic processes. The most commonly used models for multivariate spatial covariances assume both stationarity and symmetry for the…

In the co-sparse analysis model a set of filters is applied to a signal out of the signal class of interest yielding sparse filter responses. As such, it may serve as a prior in inverse problems, or for structural analysis of signals that…

Navigation solutions suitable for cases when both autonomous robot's pose (\textit{i.e}., attitude and position) and its environment are unknown are in great demand. Simultaneous Localization and Mapping (SLAM) fulfills this need by…

Classical models for multivariate or spatial extremes are mainly based upon the asymptotically justified max-stable or generalized Pareto processes. These models are suitable when asymptotic dependence is present, i.e., the joint tail…

Autonomous navigation is one of the key requirements for every potential application of mobile robots in the real-world. Besides high-accuracy state estimation, a suitable and globally consistent representation of the 3D environment is…

To disentangle the complex non-stationary dependence structure of precipitation extremes over the entire contiguous U.S., we propose a flexible local approach based on factor copula models. Our sub-asymptotic spatial modeling framework…