相关论文: Multi-kernel Correntropy-based Orientation Estimat…

We present a robust control and estimation framework for quadrotors operating in Global Navigation Satellite System(GNSS)-denied, non-inertial environments where inertial sensors such as Inertial Measurement Units (IMUs) become unreliable…

This paper presents distributed conjugate gradient algorithms for distributed parameter estimation and spectrum estimation over wireless sensor networks. In particular, distributed conventional conjugate gradient (CCG) and modified…

A reliable self-contained navigation system is essential for autonomous vehicles. Based on our previous study on Wheel-INS \cite{niu2019}, a wheel-mounted inertial measurement unit (Wheel-IMU)-based dead reckoning (DR) system, in this…

A self-contained autonomous dead reckoning (DR) system is desired to complement the Global Navigation Satellite System (GNSS) for land vehicles, for which odometer-aided inertial navigation system (ODO/INS) is a classical solution. In this…

In this paper, a new Computation-Control Motion Estimation (CCME) method is proposed which can perform Motion Estimation (ME) adaptively under different computation or power budgets while keeping high coding performance. We first propose a…

This paper presents an efficient solution to 3D-LiDAR-based Monte Carlo localization (MCL). MCL robustly works if particles are exactly sampled around the ground truth. An inertial navigation system (INS) can be used for accurate sampling,…

To date most linear and nonlinear Kalman filters (KFs) have been developed under the Gaussian assumption and the well-known minimum mean square error (MMSE) criterion. In order to improve the robustness with respect to impulsive (or…

This paper presents novel algorithms for multi-target direction-of-arrival (DoA) estimation in array signal processing. Although the maximum likelihood estimator (MLE) asymptotically attains the Cram\'er-Rao bound, its exponential…

This work introduces the Matrix Minimum Covariance Determinant (MMCD) method, a novel robust location and covariance estimation procedure designed for data that are naturally represented in the form of a matrix. Unlike standard robust…

In this paper, we investigate a joint device activity detection (DAD), channel estimation (CE), and data decoding (DD) algorithm for multiple-input multiple-output (MIMO) massive unsourced random access (URA). Different from the…

Uncertainty estimation (UE) techniques -- such as the Gaussian process (GP), Bayesian neural networks (BNN), Monte Carlo dropout (MCDropout) -- aim to improve the interpretability of machine learning models by assigning an estimated…

Pedestrian tracking has long been considered an important problem, especially in security applications. Previously,many approaches have been proposed with various types of sensors. One popular method is Pedestrian Dead Reckoning(PDR) [1]…

Robust compressive sensing(CS) reconstruction has become an attractive research topic in recent years. Robust CS aims to reconstruct the sparse signals under non-Gaussian(i.e. heavy tailed) noises where traditional CS reconstruction…

Computational fluid dynamics (CFD) simulations are crucial in automotive, aerospace, maritime and medical applications, but are limited by the complexity, cost and computational requirements of directly calculating the flow, often taking…

As an effective and efficient discriminative learning method, Broad Learning System (BLS) has received increasing attention due to its outstanding performance in various regression and classification problems. However, the standard BLS is…

Inertial navigation systems for pedestrians are infrastructure-less and can achieve sub-meter accuracy in the short/medium period. However, when low-cost inertial measurement units (IMU) are employed for their implementation, they suffer…

Visual and lidar Simultaneous Localization and Mapping (SLAM) algorithms benefit from the Inertial Measurement Unit (IMU) modality. The high-rate inertial data complement the other lower-rate modalities. Moreover, in the absence of constant…

Along with the practical success of the discovery of dynamics using deep learning, the theoretical analysis of this approach has attracted increasing attention. Prior works have established the grid error estimation with auxiliary…

This paper presents an efficient method for computing maximum likelihood (ML) direction of arrival (DOA) estimates assuming unknown sensor noise powers. The method combines efficient Alternate Projection (AP) procedures with Newton…

Maximum Likelihood (ML) algorithms, for the joint estimation of synchronization impairments and channel in Multiple Input Multiple Output-Orthogonal Frequency Division Multiplexing (MIMO-OFDM) system, are investigated in this work. A system…