相关论文: CKANIO: Learnable Chebyshev Polynomials for Inerti…

Event cameras show great potential for visual odometry (VO) in handling challenging situations, such as fast motion and high dynamic range. Despite this promise, the sparse and motion-dependent characteristics of event data continue to…

MEMS Inertial Measurement Units (IMUs) as ubiquitous proprioceptive motion measurement devices are available on various everyday gadgets and robotic platforms. Nevertheless, the direct inference of geometrical transformations or odometry…

Inertial odometry (IO) leverages inertial measurement unit (IMU) signals for cost-effective localization. However, high IMU sampling rates introduce substantial redundancy that impedes IO's ability to attend to salient components, thereby…

Kolmogorov-Arnold Networks (KANs) have recently shown promise for solving partial differential equations (PDEs). Yet their original formulation is computationally and memory intensive, motivating the introduction of Chebyshev Type-I-based…

Kolmogorov-Arnold Networks (KANs) have recently emerged as a powerful alternative to traditional multilayer perceptrons. However, their reliance on predefined, bounded grids restricts their ability to approximate functions on unbounded…

Involuntary motion during weight-bearing cone-beam computed tomography (CT) scans of the knee causes artifacts in the reconstructed volumes making them unusable for clinical diagnosis. Currently, image-based or marker-based methods are…

In this work, we explore the use of a novel neural network architecture, the Kolmogorov-Arnold Networks (KANs) as feature extractors for sensor-based (specifically IMU) Human Activity Recognition (HAR). Where conventional networks perform a…

Visual Inertial Odometry (VIO) is one of the most established state estimation methods for mobile platforms. However, when visual tracking fails, VIO algorithms quickly diverge due to rapid error accumulation during inertial data…

This paper presents a novel method for visual-inertial odometry. The method is based on an information fusion framework employing low-cost IMU sensors and the monocular camera in a standard smartphone. We formulate a sequential inference…

By utilising their adaptive activation functions, Kolmogorov-Arnold Networks (KANs) can be applied in a novel way for the diverse machine learning tasks, including cyber threat detection. KANs substitute conventional linear weights with…

Solving partial differential equations (PDEs) is essential in scientific forecasting and fluid dynamics. Traditional approaches often incur expensive computational costs and trade-offs in efficiency and accuracy. Recent deep neural networks…

Kolmogorov-Arnold Networks (KANs) offer a theoretically grounded alternative to multi-layer perceptrons by representing multivariate functions as compositions of univariate basis functions. However, a critical limitation of KANs is the need…

We introduce a novel method for odometry estimation using convolutional neural networks from 3D LiDAR scans. The original sparse data are encoded into 2D matrices for the training of proposed networks and for the prediction. Our networks…

Kolmogorov-Arnold networks (KANs) as an alternative to multi-layer perceptrons (MLPs) are a recent development demonstrating strong potential for data-driven modeling. This work applies KANs as the backbone of a neural ordinary differential…

The emerging Internet of Things (IoT) applications, such as driverless cars, have a growing demand for high-precision positioning and navigation. Nowadays, LiDAR inertial odometry becomes increasingly prevalent in robotics and autonomous…

Uncertainty quantification (UQ) plays a pivotal role in scientific machine learning, especially when surrogate models are used to approximate complex systems. Although multilayer perceptions (MLPs) are commonly employed as surrogates, they…

Visual-Inertial Odometry (VIO) utilizes an Inertial Measurement Unit (IMU) to overcome the limitations of Visual Odometry (VO). However, the VIO for vehicles in large-scale outdoor environments still has some difficulties in estimating…

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…

Kolmogorov-Arnold Networks (KANs) have gained attention as an alternative to traditional multilayer perceptrons (MLPs) for deep learning applications in computational physics, particularly for solving inverse problems with sparse data, as…

Hybrid constitutive modeling integrates two complementary approaches for describing and predicting a material's mechanical behavior: purely data-driven black-box methods and physically constrained, theory-based models. While black-box…