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This paper proposes a novel robust cascade structure which has better performance when the transmission line undergoes a perturbation. Cascade control structure is normally used when the control procedure can be split into two (or more) cascaded parts. Compared with the conventional cascade control structure which has a limited ability to handle the perturbation in the plant model, the novel structure...
This paper presents a robust and efficient semidense visual odometry solution for RGB-D cameras. The core of our method is a 2D-3D ICP pipeline which estimates the pose of the sensor by registering the projection of a 3D semidense map of a reference frame with the 2D semi-dense region extracted in the current frame. The processing is speeded up by efficiently implemented approximate nearest neighbour...
Low-drift rotation estimation is a crucial part of any accurate odometry system. In this paper, we focus on the problem of 3D rotation estimation with dense depth sensors in environments that consist of piece-wise planar structures, such as corridors and office rooms. An efficient mean-shift paradigm is developed to extract and track planar modes in the surface normal vector distribution on the unit...
In this work, we develop a minimum mean square error (MMSE) estimator for the underdetermined systems when the signal of interest is sparse. To address the uncertainty issue introduced in the measurement system, robust approaches are developed based on stochastic and worst case optimization techniques under the minimax framework. To solve the optimization problem, different constraints on the unknown...
This paper studies an enhanced robust kernel least mean square (KLMS) adaptive filtering algorithm for nonlinear acoustic echo cancellation (NLAEC) in impulsive noise environment. Robust KLMS algorithm based on M-estimate theory shows robustness to simulated, Contaminated Gaussian (CG) impulsive noise. However, it fails to combat real-world impulsive noise which normally consists of a few consecutive...
Creating a dictionary is essential in utilizing compressed sensing concept to explore sparsity for many applications. On one hand, a large and fine dictionary is needed to achieve high estimation accuracy. On the other hand, big dictionary also introduce heavy computations. Furthermore, one can imagine that no matter how fine we grid the domain to create the dictionary, there always will be off-grid...
The computation of exact geodesics on triangle meshes is a widely used operation in computer-aided design and computer graphics. Practical algorithms for computing such exact geodesics have been recently proposed by Surazhsky et al. [5]. By applying these geometric algorithms to real-world data, degenerate cases frequently appear. In this paper we classify and enumerate all the degenerate cases in...
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