相关论文: Determining Map, Data Assimilation and an Observab…

This paper addresses the problem of estimating entropy-regularized optimal transport (EOT) maps with squared-Euclidean cost between source and target measures that are subGaussian. In the case that the target measure is compactly supported…

Simultaneous localization and mapping (SLAM) is critical to the implementation of autonomous driving. Most LiDAR-inertial SLAM algorithms assume a static environment, leading to unreliable localization in dynamic environments. Moreover, the…

Spatial perception is the backbone of many robotics applications, and spans a broad range of research problems, including localization and mapping, point cloud alignment, and relative pose estimation from camera images. Robust spatial…

We consider the long-time behavior of solutions to the two dimensional non-homogeneous Euler equations under the Boussinesq approximation posed on a periodic channel. We study the linearized system near a linearly stratified Couette flow…

Many multi-object tracking (MOT) methods follow the framework of "tracking by detection", which associates the target objects-of-interest based on the detection results. However, due to the separate models for detection and association, the…

Optimal transport (OT) is a widely used technique in machine learning, graphics, and vision that aligns two distributions or datasets using their relative geometry. In symmetry-rich settings, however, OT alignments based solely on pairwise…

Regularising the primal formulation of optimal transport (OT) with a strictly convex term leads to enhanced numerical complexity and a denser transport plan. Many formulations impose a global constraint on the transport plan, for instance…

The design of a globally convergent position observer for feature points from visual information is a challenging problem, especially for the case with only inertial measurements and without assumptions of uniform observability, which…

Deep neural networks (DNNs) are increasingly integrated into LiDAR (Light Detection and Ranging)-based perception systems for autonomous vehicles (AVs), requiring robust performance under adversarial conditions. We aim to address the…

Active Object Tracking (AOT) aims to maintain a specific relation between the tracker and object(s) by autonomously controlling the motion system of a tracker given observations. AOT has wide-ranging applications, such as in mobile robots…

This paper offers a data-driven approach for designing adaptive suboptimal second-order sliding mode (ASSOSM) controllers for single-input nonlinear systems, characterized by perturbed strict-feedback structures with unknown dynamics. The…

The accuracy of simulation-based forecasting in chaotic systems is heavily dependent on high-quality estimates of the system state at the time the forecast is initialized. Data assimilation methods are used to infer these initial conditions…

A new proof of the equivalence of the Taut String Algorithm and the one-dimensional Rudin-Osher-Fatemi model is presented. Based on duality and the projection theorem in Hilbert space, the proof is strictly elementary. Existence and…

We address the well-posedness for the two-dimensional Boussinesq equations with zero diffusivity in bounded domains. We prove global in time regularity for rough initial data: both the initial velocity and temperature have $\epsilon$…

Data assimilation is a technique for increasing the accuracy of simulations of solutions to partial differential equations by incorporating observable data into the solution as time evolves. Recently, a promising new algorithm for data…

The convergence of the generalized alternating projection (GAP) algorithm is studied in this paper to solve the compressive sensing problem $\yv = \Amat \xv + \epsilonv$. By assuming that $\Amat\Amat\ts$ is invertible, we prove that GAP…

The expected meeting time of two random walkers on an undirected graph of size $N$, where at each time step one walker moves and the process stops when they collide, satisfies a system of $\binom{N}{2}$ linear equations. Na\"{i}vely,…

Most current sampling algorithms for high-dimensional distributions are based on MCMC techniques and are approximate in the sense that they are valid only asymptotically. Rejection sampling, on the other hand, produces valid samples, but is…

Chaos arises in many complex dynamical systems, from weather to power grids, but is difficult to accurately model using data-driven emulators, including neural operator architectures. For chaotic systems, the inherent sensitivity to initial…

We study the problem of enumerating Tarski fixed points on finite lattices. We derive query complexity lower bounds for finding three or more Tarski fixed points of isotone maps and the subclasses of increasing and decreasing isotone maps.…