Research
Research
Research
Research
32+ open-access research outputs.
LiDAR-inertial odometry (LIO) has been widely used in robotics due to its high accuracy. However, its performance degrades in degenerate environments, such as long corridors and high-altitude flights,…
This work presents a nonparametric framework for dissipativity learning in reproducing kernel Hilbert spaces, which enables data-driven certification of stability and performance properties for unknow…
Local bifurcation analysis plays a central role in understanding qualitative transitions in networked nonlinear dynamical systems, including dynamic neural network and opinion dynamics models. In this…
This paper presents a novel robust online calibration framework for Ultra-Wideband (UWB) anchors in UWB-aided Visual-Inertial Navigation Systems (VINS). Accurate anchor positioning, a process known as…
Continual learning in medical image segmentation involves sequential data acquisition across diverse domains (e.g., clinical sites), where task interference between past and current domains often lead…
In this work we define, analyze, and compare different numerical schemes that can be used to study the ground state properties of Bose-Fermi systems, such as mixtures of different atomic species under…
This study explores stochastic resonance (SR) in a Schmitt trigger circuit and its application to weak signal detection. SR, a phenomenon where noise synchronizes with weak signals to enhance detectab…
Crystal plasticity (CP) modeling is a vital tool for predicting the mechanical behavior of materials, but its calibration involves numerous (>8) constitutive parameters, often requiring time-consuming…
Due to its ability of significantly improving data rate, intelligent reflecting surface (IRS) will be a potential crucial technique for the future generation wireless networks like 6G. In this paper, …
Robots in dynamic environments need fast, accurate models of how objects move in their environments to support agile planning. In sports such as ping pong, analytical models often struggle to accurate…
Lyapunov-Schmidt reduction is a dimensionality reduction technique in nonlinear systems analysis that is commonly utilised in the study of bifurcation problems in high-dimensional systems. The method …
A Schmidt filter is a modification of the Kalman filter that allows to append system parameters as states and considers their uncertainty effect in the filtering process without attempting to estimate…
While the literature on RF fingerprinting-based authentication and key distillation is vast, the two topics have customarily been studied separately. In this paper, starting from the observation that …
Drift-free localization is essential for autonomous vehicles. In this paper, we address the problem by proposing a filter-based framework, which integrates the visual-inertial odometry and the measure…
This paper focuses on designing a consistent and efficient filter for map-based visual-inertial localization. First, we propose a new Lie group with its algebra, based on which a novel invariant exten…
Visual-inertial SLAM has been studied widely due to the advantage of its lightweight, cost-effectiveness, and rich information compared to other sensors. A multi-state constrained filter (MSCKF) and i…
Thermography has been used extensively as a complementary diagnostic tool in breast cancer detection. Among thermographic methods matrix factorization (MF) techniques show an unequivocal capability to…
Global localization is essential for robots to perform further tasks like navigation. In this paper, we propose a new framework to perform global localization based on a filter-based visual-inertial o…
Polynomial chaos expansions (PCEs) have been used in many real-world engineering applications to quantify how the uncertainty of an output is propagated from inputs. PCEs for models with independent i…
In this paper, we present the RISE-SLAM algorithm for performing visual-inertial simultaneous localization and mapping (SLAM), while improving estimation consistency. Specifically, in order to achieve…
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