相关论文: Attitude Reconstruction from Inertial Measurement:…
This note formulates a deterministic recovery result for vectors $x$ from quadratic measurements of the form $(Ax)_i \overline{(Ax)_j}$ for some left-invertible $A$. Recovery is exact, or stable in the noisy case, when the couples $(i,j)$…
We present a new approach to the electromagnetic inverse problem that explicitly addresses the ambiguity associated with its ill-posed character. Rather than calculating a single ``best'' solution according to some criterion, our approach…
Rotation averaging (RA) is a fundamental problem in robotics and computer vision. In RA, the goal is to estimate a set of $N$ unknown orientations $R_{1}, ..., R_{N} \in SO(3)$, given noisy measurements $R_{ij} \sim R^{-1}_{i} R_{j}$ of a…
Inertial Velocity-Aided Attitude (VAA), the estimation of the velocity and attitude of a vehicle using gyroscope, accelerometer, and inertial-frame velocity (e.g. GPS velocity) measurements, is an important problem in the control of…
Quantum correlation, such as entanglement and squeezing have shown to improve phase estimation in interferometric setups on one side, and non-interferometric imaging scheme of amplitude object on the other. In the last case, quantum…
We study the effects of stochastic resetting on geometric Brownian motion (GBM), a canonical stochastic multiplicative process for non-stationary and non-ergodic dynamics. Resetting is a sudden interruption of a process, which consecutively…
This paper proposes a learning method for denoising gyroscopes of Inertial Measurement Units (IMUs) using ground truth data, and estimating in real time the orientation (attitude) of a robot in dead reckoning. The obtained algorithm…
Inertial localisation is an important technique as it enables ego-motion estimation in conditions where external observers are unavailable. However, low-cost inertial sensors are inherently corrupted by bias and noise, which lead to unbound…
The residual cutting (RC) method has been proposed as an outer-inner loop iteration for efficiently solving large and sparse linear systems of equations arising in solving numerically problems of elliptic partial differential equations.…
It is recommended for a novice to engage a trained and experience person, i.e., a coach before starting an unfamiliar aerobic or weight routine. The coach's task is to provide real-time feedbacks to ensure that the routine is performed in a…
We derive a repulsive, charge-dipole-like interaction for a Dirac particle in a rotating frame, arising from a geometric $U(1)$ gauge symmetry associated with the Berry phase. The Lagrangian of this system includes a non-inertial correction…
Purpose, To develop a high scanning efficiency, motion corrected imaging strategy for free-breathing pulmonary MRI by combining a motion compensation reconstruction with a UTE acquisition, called iMoCo UTE. Methods, An optimized golden…
The choice of representation for geographic location significantly impacts the accuracy of models for a broad range of geospatial tasks, including fine-grained species classification, population density estimation, and biome classification.…
Inertial sensors based on micro-electromechanical systems (MEMS) technology, such as accelerometers and angular rate sensors, are cost-effective solutions used in inertial navigation systems in a broad spectrum of applications that estimate…
Fourier partial sum approximations yield exponential accuracy for smooth and periodic functions, but produce the infamous Gibbs phenomenon for non-periodic ones. Spectral reprojection resolves the Gibbs phenomenon by projecting the Fourier…
Model averaging techniques based on resampling methods (such as bootstrapping or subsampling) have been utilized across many areas of statistics, often with the explicit goal of promoting stability in the resulting output. We provide a…
Open gantry C-arm systems that are placed within the interventional room enable 3-D imaging and guidance for stroke therapy without patient transfer. This can profit in drastically reduced time-totherapy, however, due to the interventional…
This paper considers the problem of nonlinear attitude estimation for a rigid body system using intermittent and multi-rate inertial vector measurements as well as continuous (high-rate) angular velocity measurements. Two types of hybrid…
In policy learning for robotic manipulation, sample efficiency is of paramount importance. Thus, learning and extracting more compact representations from camera observations is a promising avenue. However, current methods often assume full…
The interest in mobile platforms across a variety of applications has increased significantly in recent years. One of the reasons is the ability to achieve accurate navigation by using low-cost sensors. To this end, inertial sensors are…