3 papers
cs.RO2025
Ancestry Tree Clustering for Particle Filter Diversity Maintenance
Ilari Vallivaara, Bingnan Duan, Yinhuan Dong +1
We propose a method for linear-time diversity maintenance in particle filtering. It clusters particles based on ancestry tree topology: closely related particles in sufficiently la…
cs.DS2025
Systematic Alias Sampling: an efficient and low-variance way to sample from a discrete distribution
Ilari Vallivaara, Katja Poikselkä, Pauli Rikula +1
In this paper we combine the Alias method with the concept of systematic sampling, a method commonly used in particle filters for efficient low-variance resampling. The proposed me…
cs.RO2024
Saying goodbyes to rotating your phone: Magnetometer calibration during SLAM
Ilari Vallivaara, Yinhuan Dong, Tughrul Arslan
While Wi-Fi positioning is still more common indoors, using magnetic field features has become widely known and utilized as an alternative or supporting source of information. Magn…