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

This work aims to present a three-dimensional vehicle dynamics state estimation under varying signal quality. Few researchers have investigated the impact of three-dimensional road geometries on the state estimation and, thus, neglect road…

This paper deals with traffic control at motorway bottlenecks assuming the existence of an unknown, time-varying, Fundamental Diagram (FD). The FD may change over time due to different traffic compositions, e.g., light and heavy vehicles,…

Detecting and localizing leaks in water distribution network systems is an important topic with direct environmental, economic, and social impact. Our paper is the first to explore the use of factor graph optimization techniques for leak…

This paper presents a generic feature-based navigation framework for autonomous vehicles using a soft constrained Particle Filter. Selected map features, such as road and landmark locations, and vehicle states are used for designing soft…

This paper presents methods for vehicle state estimation and prediction for autonomous driving. A roundabout is chosen to apply the methods and illustrate the results as autonomous vehicles have difficulty in handling roundabouts. State…

Cost-effective localization methods for Autonomous Underwater Vehicle (AUV) navigation are key for ocean monitoring and data collection at high resolution in time and space. Algorithmic solutions suitable for real-time processing that…

In the context of autonomous airships, several works in control and guidance use wind velocity to design a control law. However, in general, this information is not directly measured in robotic airships. This paper presents three…

In this paper, we provide a Graph Fourier Transform based approach to downsample signals on graphs. For bandlimited signals on a graph, a test is provided to identify whether signal reconstruction is possible from the given downsampled…

This paper considers an anomaly detection problem in which a detection algorithm assigns anomaly scores to multi-dimensional data points, such as cellular networks' Key Performance Indicators (KPIs). We propose an optimization framework to…

In this paper, we propose a new regression-based algorithm to compute Graph Fourier Transform (GFT). Our algorithm allows different regularizations to be included when computing the GFT analysis components, so that the resulting components…

The immersion and the interaction are the important features of the driving simulator. To improve these characteristics, this paper proposes a low-cost and mark-less driver head tracking framework based on the head pose estimation model,…

In this note, the attitude and inertial sensors drift biases estimation for Strapdown inertial navigation system is investigated. A semi-analytic method is proposed, which contains two interlaced solution procedures. Specifically, the…

State estimation methods using factor graph optimization (FGO) have garnered significant attention in global navigation satellite system (GNSS) research. FGO exhibits superior estimation accuracy compared with traditional state estimation…

Graphs are versatile tools for representing structured data. As a result, a variety of machine learning methods have been studied for graph data analysis. Although many such learning methods depend on the measurement of differences between…

The ability of autonomous vehicles to maintain an accurate trajectory within their road lane is crucial for safe operation. This requires detecting the road lines and estimating the car relative pose within its lane. Lateral lines are…

The ability to track a moving vehicle is of crucial importance in numerous applications. The task has often been approached by the importance sampling technique of particle filters due to its ability to model non-linear and non-Gaussian…

Accurate velocity estimation is critical in mobile robotics, particularly for driver assistance systems and autonomous driving. Wheel odometry fused with Inertial Measurement Unit (IMU) data is a widely used method for velocity estimation;…

We propose a model that is able to perform unsupervised physical parameter estimation of systems from video, where the differential equations governing the scene dynamics are known, but labeled states or objects are not available. Existing…

This paper presents a method for determining spacecraft angular rates using event-based camera sensing. This is achieved by analyzing the temporal distribution of brightness events triggered by the apparent motion of stars. The location and…

Graphs are irregular structures which naturally account for data integrity, however, traditional approaches have been established outside Signal Processing, and largely focus on analyzing the underlying graphs rather than signals on graphs.…