相关论文: Experimental 3D super-localization with Laguerre-G…

Mixtures-of-Experts models and their maximum likelihood estimation (MLE) via the EM algorithm have been thoroughly studied in the statistics and machine learning literature. They are subject of a growing investigation in the context of…

We present a novel approach for enhancing the resolution and geometric fidelity of 3D Gaussian Splatting (3DGS) beyond native training resolution. Current 3DGS methods are fundamentally limited by their input resolution, producing…

This work considers the three-dimensional (3-D) positioning problem in a Terahertz (THz) system enabled by a modular extra-large (XL) array with sub-connected architecture. Our purpose is to estimate the Cartesian Coordinates of multiple…

A Gaussian error assumption is commonly adopted in the pseudorange measurement model for global navigation satellite system (GNSS) positioning, which leads to the conventional least squares (LS) estimator. In urban environments, however,…

A new method is described for solving optimal control problems using direct collocation at Legendre-Gauss-Lobatto points. The approach of this paper employs a polynomial approximation of the right-hand side vector field of the differential…

In multiple-input multiple-output (MIMO) spatially multiplexing (SM) systems, achievable error rate performance is determined by signal detection strategy. The optimal maximum-likelihood detection (MLD) that exhaustively examines all symbol…

Localization is a key feature of future Sixth Generation (6G) net-works with foreseen accuracy requirements down to the millimeter level, to enable novel applications in the fields of telesurgery, high-precision manufacturing, and others.…

The recently developed Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have shown encouraging and impressive results for visual SLAM. However, most representative methods require RGBD sensors and are only available for indoor…

In this investigation, we propose several algorithms to recover the location and intensity of a radiation source located in a simulated 250 m x 180 m block in an urban center based on synthetic measurements. Radioactive decay and detection…

When using Laguerre and Hermite spectral methods to numerically solve PDEs in unbounded domains, the number of collocation points assigned inside the region of interest is often insufficient, particularly when the region is expanded or…

As a first step towards a mathematically rigorous understanding of adaptive spectral/$hp$ discretizations of elliptic boundary-value problems, we study the performance of adaptive Legendre-Galerkin methods in one space dimension. These…

Modern robotic systems are required to operate in challenging environments, which demand reliable localization under challenging conditions. LiDAR-based localization methods, such as the Iterative Closest Point (ICP) algorithm, can suffer…

Maximum likelihood estimation is an important statistical technique for estimating missing data, for example in climate and environmental applications, which are usually large and feature data points that are irregularly spaced. In…

A finite difference algorithm based on the integral Laguerre transform in time for solving a three-dimensional one-way wave equation is proposed. This allows achieving high accuracy of calculation results. In contrast to the Fourier method,…

This paper introduces LiGSM, a novel LiDAR-enhanced 3D Gaussian Splatting (3DGS) mapping framework that improves the accuracy and robustness of 3D scene mapping by integrating LiDAR data. LiGSM constructs joint loss from images and LiDAR…

Dynamic maneuvers for legged robots present a difficult challenge due to the complex dynamics and contact constraints. This paper introduces a versatile trajectory optimization framework for continuous-time multi-phase problems. We…

The sparse object detection paradigm shift towards dense 3D semantic occupancy prediction is necessary for dealing with long-tail safety challenges for autonomous vehicles. Nonetheless, the current voxelization methods commonly suffer from…

An optimization method is proposed in this paper for novel deployment of given number of directional landmarks (location and pose) within a given region in the 3-D task space. This new deployment technique is built on the geometric models…

Accurate 3D human pose estimation (3D HPE) is crucial for enabling autonomous vehicles (AVs) to make informed decisions and respond proactively in critical road scenarios. Promising results of 3D HPE have been gained in several domains such…

In coherent imaging, speckle is statistically modeled as multiplicative noise, posing a fundamental challenge for image reconstruction. While maximum likelihood estimation (MLE) provides a principled framework for speckle mitigation, its…