相关论文: Unobservable Subspace Evolution and Alignment for …

Unsupervised Domain Adaptation for Regression (UDAR) aims to adapt models from a labeled source domain to an unlabeled target domain for regression tasks. Traditional feature alignment methods, successful in classification, often prove…

During their formation, galaxies are subject to tidal forces, which create correlations between their shapes and the large-scale structure of the Universe, known as intrinsic alignment. This alignment is a contamination for cosmic-shear…

This paper proposes a novel observer-based controller for Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) designed to directly receive measurements from a Vision-Aided Inertial Navigation System (VA-INS) and produce the…

Autonomous landing in cluttered or unstructured environments remains a safety-critical challenge for unmanned aerial vehicles (UAVs), particularly under noisy perception caused by sensor uncertainty and platform-induced disturbances such as…

We present Stochastic Gaussian Splatting (SGS): the first framework for uncertainty estimation using Gaussian Splatting (GS). GS recently advanced the novel-view synthesis field by achieving impressive reconstruction quality at a fraction…

Policy steering is an emerging way to adapt robot behaviors at deployment-time: a learned verifier analyzes low-level action samples proposed by a pre-trained policy (e.g., diffusion policy) and selects only those aligned with the task.…

Physics-Informed Neural Networks (PINNs) frequently encounter difficulties in accurately resolving shock waves within high-speed compressible flows, a failure largely attributed to the "gradient pathology" arising from extreme stiffness at…

Few-shot segmentation (FSS) has gained significant attention for its ability to generalize to novel classes with limited supervision, yet remains challenged by structural misalignment and cross-view inconsistency under large appearance or…

The development of compact and energy-efficient wearable sensors has led to an increase in the availability of biosignals. To analyze these continuously recorded, and often multidimensional, time series at scale, being able to conduct…

In this study, a novel idea, Uncertainty Structure Estimation (USE), a lightweight, algorithm-agnostic procedure that emphasizes the often-overlooked role of unlabeled data quality is introduced for Semi-supervised learning (SSL). SSL has…

In this study, we address the critical challenge of balancing speed and accuracy while maintaining interpretablity in visual odometry (VO) systems, a pivotal aspect in the field of autonomous navigation and robotics. Traditional VO systems…

Precise vehicle state estimation is crucial for safe and reliable autonomous driving. The number of measurable states and their precision offered by the onboard vehicle sensor system are often constrained by cost. For instance, measuring…

Unmanned Surface Vehicles (USVs) have emerged as a major platform in maritime operations, capable of supporting a wide range of applications. USVs can help reduce labor costs, increase safety, save energy, and allow for difficult unmanned…

Reliable real-time 3D localization is essential for multi-UAV navigation, collision avoidance, and coordinated flight, yet onboard estimates can degrade under GNSS multipath, non-line-of-sight reception, vertical drift, and intentional…

Integration of Visual Inertial Odometry (VIO) methods into a modular control system designed for deployment of Unmanned Aerial Vehicles (UAVs) and teams of cooperating UAVs in real-world conditions are presented in this paper. Reliability…

Today's ocean numerical prediction skills depend on the availability of in-situ and remote ocean observations at the time of the predictions only. Because observations are scarce and discontinuous in time and space, numerical models are…

Accurate relative state observation of Unmanned Underwater Vehicles (UUVs) for tracking uncooperative targets remains a significant challenge due to the absence of GPS, complex underwater dynamics, and sensor limitations. Existing…

Unmanned Aerial Vehicle (UAV) spectral remote sensing technology is widely used in water quality monitoring. However, in dynamic environments, varying illumination conditions, such as shadows and specular reflection (sun glint), can cause…

Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Satellite System (GNSS) measurements, a first attempt of this…

This paper presents a novel end-to-end Unmanned Aerial System (UAS) navigation approach for long-range visual navigation in the real world. Inspired by dual-process visual navigation system of human's instinct: environment understanding and…