13 papers
Implementing Robust M-Estimators with Certifiable Factor Graph Optimization
Zhexin Xu, Hanna Jiamei Zhang, Helena Calatrava +2
Parameter estimation in robotics and computer vision faces formidable challenges from both outlier contamination and nonconvex optimization landscapes. While M-estimation addresses…
Label Hijacking in Track Consensus-Based Distributed Multi-Target Tracking
Helena Calatrava, Shuo Tang, Pau Closas
Distributed multi-target tracking (DMTT) in limited field-of-view (FoV) sensor networks commonly suffers from label inconsistency, whereby different nodes disagree on the identity…
DPMM-CFL: Clustered Federated Learning via Dirichlet Process Mixture Model Nonparametric Clustering
Mariona Jaramillo-Civill, Peng Wu, Pau Closas
Clustered Federated Learning (CFL) improves performance under non-IID client heterogeneity by clustering clients and training one model per cluster, thereby balancing between a glo…
Cooperative Differential GNSS Positioning: Estimators and Bounds
Helena Calatrava, Daniel Medina, Pau Closas
In Differential GNSS (DGNSS) positioning, differencing measurements between a user and a reference station suppresses common-mode errors but also introduces reference-station noise…
K-Track: Kalman-Enhanced Tracking for Accelerating Deep Point Trackers on Edge Devices
Bishoy Galoaa, Pau Closas, Sarah Ostadabbas
Point tracking in video sequences is a foundational capability for real-world computer vision applications, including robotics, autonomous systems, augmented reality, and video ana…
Trends and Challenges in Next-Generation GNSS Interference Management
Leatile Marata, Mariona Jaramillo-Civill, Tales Imbiriba +4
The global navigation satellite system (GNSS) continues to evolve in order to meet the demands of emerging applications such as autonomous driving and smart environmental monitorin…