相关论文: Belief Propagation-based Rotation and Translation …

We consider the estimation of an i.i.d.\ random vector observed through a linear transform followed by a componentwise, probabilistic (possibly nonlinear) measurement channel. A novel algorithm, called generalized approximate message…

We propose R3GS, a robust reconstruction and relocalization framework tailored for unconstrained datasets. Our method uses a hybrid representation during training. Each anchor combines a global feature from a convolutional neural network…

Stable estimation of rigid body pose and velocities from noisy measurements, without any knowledge of the dynamics model, is treated using the Lagrange-d'Alembert principle from variational mechanics. With body-fixed optical and inertial…

We consider the problem of recovering an unknown signal ${\mathbf x}\in {\mathbb R}^n$ from general nonlinear measurements obtained through a generalized linear model (GLM), i.e., ${\mathbf y}= f\left({\mathbf A}{\mathbf x}+{\mathbf…

Precise initialization plays a critical role in the performance of localization algorithms, especially in the context of robotics, autonomous driving, and computer vision. Poor localization accuracy is often a consequence of inaccurate…

Efficient inference in high-dimensional models is a central challenge in machine learning. We introduce the Gaussian Ensemble Belief Propagation (GEnBP) algorithm, which combines the strengths of the Ensemble Kalman Filter (EnKF) and…

Precisely modeling radio propagation in complex environments has been a significant challenge, especially with the advent of 5G and beyond networks, where managing massive antenna arrays demands more detailed information. Traditional…

As the current initialization method in the state-of-the-art Stereo Visual-Inertial SLAM framework, ORB-SLAM3 has limitations. Its success depends on the performance of the pure stereo SLAM system and is based on the underlying assumption…

Tracking an unknown number of low-observable objects is notoriously challenging. This letter proposes a sequential Bayesian estimation method based on the track-before-detect (TBD) approach. In TBD, raw sensor measurements are directly used…

Estimating the 3DoF rotation from a single RGB image is an important yet challenging problem. As a popular approach, probabilistic rotation modeling additionally carries prediction uncertainty information, compared to single-prediction…

A global threshold (e.g., 0.5) is often applied to determine which bounding boxes should be included in the final results for an object detection task. A higher threshold reduces false positives but may result in missing a significant…

Across a majority of pedestrian detection datasets, it is typically assumed that pedestrians will be standing upright with respect to the image coordinate system. This assumption, however, is not always valid for many vision-equipped mobile…

This technical report outlines the top-ranking solution for RoboSense 2025: Track 3, achieving state-of-the-art performance on 3D object detection under various sensor placements. Our submission utilizes GBlobs, a local point cloud feature…

The task of "relative placement" is to predict the placement of one object in relation to another, e.g. placing a mug onto a mug rack. Through explicit object-centric geometric reasoning, recent methods for relative placement have made…

Navigation and exploration within unknown environments are typical examples in which simultaneous localization and mapping (SLAM) algorithms are applied. When mobile agents deploy only range sensors without bearing information, the agents…

We propose a novel angular velocity estimation method to increase the robustness of Simultaneous Localization And Mapping (SLAM) algorithms against gyroscope saturations induced by aggressive motions. Field robotics expose robots to various…

We study the behavior of the belief-propagation (BP) algorithm affected by erroneous data exchange in a wireless sensor network (WSN). The WSN conducts a distributed binary hypothesis test where the joint statistical behavior of the sensor…

Six-dimensional movable antenna (6DMA) is an emerging technology that is able to fully exploit the spatial variation of wireless channels by controlling the 3D positions and 3D rotations of distributed antennas/antenna surfaces at the…

Belief Propagation (BP) is a simple probabilistic inference algorithm, consisting of passing messages between nodes of a graph representing a probability distribution. Its analogy with a neural network suggests that it could have…

Estimating 2D-3D correspondences between RGB images and 3D space is a fundamental problem in 6D object pose estimation. Recent pose estimators use dense correspondence maps and Point-to-Point algorithms to estimate object poses. The…