相关论文: Invariant Smoothing for Localization: Including th…

Information retrieval (IR) systems traditionally aim to maximize metrics built on rankings, such as precision or NDCG. However, the non-differentiability of the ranking operation prevents direct optimization of such metrics in…

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…

Global localization plays a critical role in many robot applications. LiDAR-based global localization draws the community's focus with its robustness against illumination and seasonal changes. To further improve the localization under large…

Drift-free localization is essential for autonomous vehicles. In this paper, we address the problem by proposing a filter-based framework, which integrates the visual-inertial odometry and the measurements of the features in the pre-built…

Fine localization is a crucial task for autonomous vehicles. Although many algorithms have been explored in the literature for this specific task, the goal of getting accurate results from commodity sensors remains a challenge. As…

Inertial measurement unit (IMU) and odometer have been commonly-used sensors for autonomous land navigation in the global positioning system (GPS)-denied scenarios. This paper systematically proposes a versatile strategy for self-contained…

Indoor tracking and pose estimation, i.e., determining the position and orientation of a moving target, are increasingly important due to their numerous applications. While Inertial Navigation Systems (INS) provide high update rates, their…

Domain Generalizable Face Anti-Spoofing (DGFAS) methods effectively capture domain-invariant features by aligning the directions (weights) of local decision boundaries across domains. However, the bias terms associated with these boundaries…

Recently, map representations based on radiance fields such as 3D Gaussian Splatting and NeRF, which excellent for realistic depiction, have attracted considerable attention, leading to attempts to combine them with SLAM. While these…

The recently introduced matrix group SE2(3) provides a 5x5 matrix representation for the orientation, velocity and position of an object in the 3-D space, a triplet we call "extended pose". In this paper we build on this group to develop a…

It is known that invariance and equivariance properties for systems on Lie groups can be exploited in the design of high performance and robust observers and filters for real-world robotic systems. This paper proposes an analysis framework…

IBM models are very important word alignment models in Machine Translation. Following the Maximum Likelihood Estimation principle to estimate their parameters, the models will easily overfit the training data when the data are sparse. While…

LiDAR-based localization and SLAM often rely on iterative matching algorithms, particularly the Iterative Closest Point (ICP) algorithm, to align sensor data with pre-existing maps or previous scans. However, ICP is prone to errors in…

Face recognition (FR) systems are often prone to demographic biases, partially due to the entanglement of demographic-specific information with identity-relevant features in facial embeddings. This bias is extremely critical in large…

This document is in supplement to the paper titled "Multi-Robot Relative Pose Estimation and IMU Preintegration Using Passive UWB Transceivers", available at [1]. The purpose of this document is to show how IMU biases can be incorporated…

A low-cost measurement system using filtering of measurements for two-wheeled balancing robot stabilisation purposes has been addressed in this paper. In particular, a measurement system based on gyroscope, accelerometer, and encoder has…

Visual degradation in underwater environments poses unique and significant challenges, which distinguishes underwater SLAM from popular vision-based SLAM on the ground. In this paper, we propose RUSSO, a robust underwater SLAM system which…

We introduce a novel quadrature strategy for Isogeometric Analysis (IgA) boundary element discretizations, specifically tailored to collocation methods. Thanks to the dimensionality reduction and the natural handling of unbounded domains,…

Objective: Our aim is to determine if data collected with inertial measurement units (IMUs) during steady-state running could be used to estimate ground reaction forces (GRFs) and to derive biomechanical variables (e.g., contact time,…

We present a method to improve the accuracy of a zero-velocity-aided inertial navigation system (INS) by replacing the standard zero-velocity detector with a long short-term memory (LSTM) neural network. While existing threshold-based…