相关论文: A Direct Algorithm for Multi-Gyroscope Infield Cal…
Current differentiable renderers provide light transport gradients with respect to arbitrary scene parameters. However, the mere existence of these gradients does not guarantee useful update steps in an optimization. Instead, inverse…
Matrix Factorization plays an important role in machine learning such as Non-negative Matrix Factorization, Principal Component Analysis, Dictionary Learning, etc. However, most of the studies aim to minimize the loss by measuring the…
This paper generalizes stochastic collocation methods to handle correlated non-Gaussian random parameters. The key challenge is to perform a multivariate numerical integration in a correlated parameter space when computing the coefficient…
In this paper, we propose a fast extrinsic calibration method for fusing multiple inertial measurement units (MIMU) to improve visual-inertial odometry (VIO) localization accuracy. Currently, data fusion algorithms for MIMU highly depend on…
Matrix ellipsoids provide a standard framework for representing bounded uncertainties in data-driven control. Since noise models for sequential observations are naturally represented as the Minkowski sum of multiple matrix ellipsoids,…
In radio astronomy, accurate calibration is of crucial importance for the new generation of radio interferometers. More specifically, because of the potential presence of outliers which affect the measured data, robustness needs to be…
Accurate localization is a core component of a robot's navigation system. To this end, global navigation satellite systems (GNSS) can provide absolute measurements outdoors and, therefore, eliminate long-term drift. However, fusing GNSS…
Fitting concentric geometric objects to digitized data is an important problem in many areas such as iris detection, autonomous navigation, and industrial robotics operations. There are two common approaches to fitting geometric shapes to…
The closed form solution is found for the fully nonlinear dynamics of the gyroscope with a fixed point at the tip. The solution is found by using Cardano's formulae to factor a cubic, in the case where all roots are known to be real. From…
A discrete rotation algorithm can be apprehended as a parametric application $f\_\alpha$ from $\ZZ[i]$ to $\ZZ[i]$, whose resulting permutation ``looks like'' the map induced by an Euclidean rotation. For this kind of algorithm, to be…
Maximum consensus estimation plays a critically important role in robust fitting problems in computer vision. Currently, the most prevalent algorithms for consensus maximization draw from the class of randomized hypothesize-and-verify…
In monocular vision systems, lack of knowledge about metric distances caused by the inherent scale ambiguity can be a strong limitation for some applications. We offer a method for fusing inertial measurements with monocular odometry or…
We probe the two-scale factor universality hypothesis by evaluating, firstly explicitly and analytically at the one-loop order, the loop quantum corrections to the amplitude ratios for O($N$) $\lambda\phi^{4}$ scalar field theories with…
Linear Hall sensors are a cost-effective alternative to optical encoders for measuring the rotor positions of actuators, with the main challenge being that they exhibit position-dependent inaccuracies resulting from manufacturing…
An algorithm is proposed, analyzed, and tested experimentally for solving stochastic optimization problems in which the decision variables are constrained to satisfy equations defined by deterministic, smooth, and nonlinear functions. It is…
Simulations of many rigid bodies colliding with each other sometimes yield particularly interesting results if the colliding objects differ significantly in size and are non-spherical. The most expensive part within such a simulation code…
Using the concept of Geometric Weakly Admissible Meshes together with an algorithm based on the classical QR factorization of matrices, we compute efficient points for discrete multivariate least squares approximation and Lagrange…
The MICROSCOPE space mission aims to test the Equivalence Principle with an accuracy of $10^{-15}$. The drag-free micro-satellite will orbit around the Earth and embark a differential electrostatic accelerometer including two cylindrical…
We study the problem of high-dimensional robust mean estimation in the presence of a constant fraction of adversarial outliers. A recent line of work has provided sophisticated polynomial-time algorithms for this problem with…
Traditional approaches to extrinsic calibration use fiducial markers and learning-based approaches rely heavily on simulation data. In this work, we present a learning-based markerless extrinsic calibration system that uses a depth camera…