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

Partial Differential Equations (PDEs) are integral to modeling many scientific and engineering problems. Physics-informed Neural Networks (PINNs) have emerged as promising tools for solving PDEs by embedding governing equations into the…

A key problem of solid mechanics is the identification of the constitutive law of a material, that is, the relation between strain and stress. Machine learning has lead to considerable advances in this field lately. Here we introduce…

In continuum robotics, real-time robust shape estimation is crucial for planning and control tasks that involve physical manipulation in complex environments. In this paper, we present a novel stochastic observer-based shape estimation…

Inspired by the Kolmogorov-Arnold representation theorem, we propose Kolmogorov-Arnold Networks (KANs) as promising alternatives to Multi-Layer Perceptrons (MLPs). While MLPs have fixed activation functions on nodes ("neurons"), KANs have…

Autonomous exploration of unknown environments with aerial vehicles remains a challenge, especially in perceptually degraded conditions. Dust, fog, or a lack of visual or LiDAR-based features results in severe difficulties for state…

Understanding and modeling nonlinear dynamical systems is a fundamental challenge across science and engineering. Deep learning has shown remarkable potential for capturing complex system behavior, yet achieving models that are both…

The emergence of Kolmogorov-Arnold Networks (KANs) has sparked significant interest and debate within the scientific community. This paper explores the application of KANs in the domain of computer vision (CV). We examine the convolutional…

This paper introduces UVIO, a multi-sensor framework that leverages Ultra Wide Band (UWB) technology and Visual-Inertial Odometry (VIO) to provide robust and low-drift localization. In order to include range measurements in state…

Kolmogorov-Arnold Networks (KAN) is a groundbreaking model recently proposed by the MIT team, representing a revolutionary approach with the potential to be a game-changer in the field. This innovative concept has rapidly garnered worldwide…

Accurate channel state information (CSI) prediction is essential for improving the reliability and spectral efficiency of massive MIMO-OFDM systems in high-mobility scenarios. Existing deep learning methods struggle to jointly capture…

The Ideal Observer (IO) performance has been advocated when optimizing medical imaging systems for signal detection tasks. However, analytical computation of the IO test statistic is generally intractable. To approximate the IO test…

This paper presents, for the first time, a framework for Kolmogorov-Arnold Networks (KANs) in power system applications. Inspired by the recently proposed KAN architecture, this paper proposes physics-informed Kolmogorov-Arnold Networks…

This paper presents an end-to-end multi-modal learning approach for monocular Visual-Inertial Odometry (VIO), which is specifically designed to exploit sensor complementarity in the light of sensor degradation scenarios. The proposed…

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…

Recently, a novel model named Kolmogorov-Arnold Networks (KAN) has been proposed with the potential to achieve the functionality of traditional deep neural networks (DNNs) using orders of magnitude fewer parameters by parameterized B-spline…

Autonomous robotic systems heavily rely on environment knowledge to safely navigate. For search & rescue, a flying robot requires robust real-time perception, enabled by complementary sensors. IMU data constrains acceleration and rotation,…

This paper proposes an innovative state estimation method for visual-inertial fusion based on Chebyshev polynomial optimization. Specifically, the pose is modeled as a Chebyshev polynomial of a certain order, and its time derivatives are…

Deep learning methods have been widely used as an end-to-end modeling strategy of electrical energy systems because of their conveniency and powerful pattern recognition capability. However, due to the "closed-box" nature, deep learning…

Building a complete inertial navigation system using the limited quality data provided by current smartphones has been regarded challenging, if not impossible. This paper shows that by careful crafting and accounting for the weak…

Pedestrian dead reckoning is a challenging task due to the low-cost inertial sensor error accumulation. Recent research has shown that deep learning methods can achieve impressive performance in handling this issue. In this letter, we…