相关论文: A Factor Graph-based approach to vehicle sideslip …

We propose a novel piecewise smooth image model with piecewise constant local parameters that are automatically adapted to each image. Technically, the model is formulated in terms of factor graphs with NUP (normal with unknown parameters)…

Lane-level scene annotations provide invaluable data in autonomous vehicles for trajectory planning in complex environments such as urban areas and cities. However, obtaining such data is time-consuming and expensive since lane annotations…

Many important schemes in signal processing and communications, ranging from the BCJR algorithm to the Kalman filter, are instances of factor graph methods. This family of algorithms is based on recursive message passing-based computations…

The Gaussian graphical model (GGM) incorporates an undirected graph to represent the conditional dependence between variables, with the precision matrix encoding partial correlation between pair of variables given the others. To achieve…

Quantitative inversion algorithms allow for the reconstruction of electrical properties (such as permittivity, and conductivity) for every point in a scene. However, they are challenging to use on measured datasets due to the need to know…

Autonomous underwater vehicles often perform surveys that capture multiple views of targets in order to provide more information for human operators or automatic target recognition algorithms. In this work, we address the problem of…

We develop data-driven algorithms to fully automate sensor fault detection in systems governed by underlying physics. The proposed machine learning method uses a time series of typical behavior to approximate the evolution of measurements…

We consider the problem of localizing a manned, semi-autonomous, or autonomous vehicle in the environment using information coming from the vehicle's sensors, a problem known as navigation or simultaneous localization and mapping (SLAM)…

Subgraph counting is a fundamental problem in understanding and analyzing graph structured data, yet computationally challenging. This calls for an accurate and efficient algorithm for Subgraph Cardinality Estimation, which is to estimate…

In this paper, we focus on the unsupervised multi-view feature selection which tries to handle high dimensional data in the field of multi-view learning. Although some graph-based methods have achieved satisfactory performance, they ignore…

Tire mounted sensors are emerging as a promising technology, capable of providing information about important tire states. This paper presents a survey of the state-of-the-art in the field of smart tire technology, with a special focus on…

The proposed approach yields a numerical method that provably executes in linear time with respect to the number of nodes and edges in a graph. The graph, constructed from the power system model, requires only knowledge of the dependencies…

The paper presents a vision-based obstacle avoidance strategy for lightweight self-driving cars that can be run on a CPU-only device using a single RGB-D camera. The method consists of two steps: visual perception and path planning. The…

We estimate fair graphs from graph-stationary nodal observations such that connections are not biased with respect to sensitive attributes. Edges in real-world graphs often exhibit preferences for connecting certain pairs of groups. Biased…

A main problem in autonomous vehicles in general, and in \acp{UAV} in particular, is the determination of the attitude angles. A novel method to estimate these angles using off-the-shelf components is presented. This paper introduces an…

A simple approach to gyro and accelerometer bias estimation is proposed. It does not involve Kalman filtering or similar formal techniques. Instead, it is based on physical intuition and exploits a duality between gimbaled and strapdown…

Integration of inertial navigation system (INS) and global navigation satellite system (GNSS) is usually implemented in engineering applications by way of Kalman-like filtering. This form of INS/GNSS integration is prone to attitude…

Dynamic systems of graph signals are encountered in various applications, including social networks, power grids, and transportation. While such systems can often be described as state space (SS) models, tracking graph signals via…

We propose a computationally efficient algorithm for seizure detection. Instead of using a purely data-driven approach, we develop a hybrid model-based/data-driven method, combining convolutional neural networks with factor graph inference.…

The factor graph approach to discrete-time linear Gaussian state space models is well developed. The paper extends this approach to continuous-time linear systems/filters that are driven by white Gaussian noise. By Gaussian message passing,…