The 19th Asian Games astounded global audiences with an opening spectacle that showcased stunning digital fireworks(International Olympic Committee,2021;Zhe,2023).The groundbreaking display was brought to life through...The 19th Asian Games astounded global audiences with an opening spectacle that showcased stunning digital fireworks(International Olympic Committee,2021;Zhe,2023).The groundbreaking display was brought to life through virtual reality(VR)and augmented reality(AR)technologies.It sets a pioneering example to replace conventional fireworks in major international events as well as in other large-scale entertainment activities,marking a historic milestone in the pursuit of a sustainable and healthy future.展开更多
Simultaneous localization and mapping(SLAM)has been applied across a wide range of areas from robotics to automatic pilot.Most of the SLAM algorithms are based on the assumption that the noise is timeinvariant Gaussia...Simultaneous localization and mapping(SLAM)has been applied across a wide range of areas from robotics to automatic pilot.Most of the SLAM algorithms are based on the assumption that the noise is timeinvariant Gaussian distribution.In some cases,this assumption no longer holds and the performance of the traditional SLAM algorithms declines.In this paper,we present a robust SLAM algorithm based on variational Bayes method by modelling the observation noise as inverse-Wishart distribution with "harmonic mean".Besides,cubature integration is utilized to solve the problem of nonlinear system.The proposed algorithm can effectively solve the problem of filtering divergence for traditional filtering algorithm when suffering the time-variant observation noise,especially for heavy-tai led noise.To validate the algorithm,we compare it with other t raditional filtering algorithms.The results show the effectiveness of the algorithm.展开更多
A self-weighted quantile procedure is proposed to study the inference for a spatial unilateral autoregressive model with independent and identically distributed innovations belonging to the domain of attraction of a s...A self-weighted quantile procedure is proposed to study the inference for a spatial unilateral autoregressive model with independent and identically distributed innovations belonging to the domain of attraction of a stable law with index of stabilityα,α∈(0,2).It is shown that when the model is stationary,the self-weighted quantile estimate of the parameter has a closed form and converges to a normal limiting distribution,which avoids the difficulty of Roknossadati and Zarepour(2010)in deriving their limiting distribution for an M-estimate.On the contrary,we show that when the model is not stationary,the proposed estimates have the same limiting distributions as those of Roknossadati and Zarepour.Furthermore,a Wald test statistic is proposed to consider the test for a linear restriction on the parameter,and it is shown that under a local alternative,the Wald statistic has a non-central chisquared distribution.Simulations and a real data example are also reported to assess the performance of the proposed method.展开更多
Aiming at the problem of filtering precision degradation caused by the random outliers of process noise and measurement noise in multi-target tracking(MTT) system,a new Gaussian-Student’s t mixture distribution proba...Aiming at the problem of filtering precision degradation caused by the random outliers of process noise and measurement noise in multi-target tracking(MTT) system,a new Gaussian-Student’s t mixture distribution probability hypothesis density(PHD) robust filtering algorithm based on variational Bayesian inference(GST-vbPHD) is proposed.Firstly,since it can accurately describe the heavy-tailed characteristics of noise with outliers,Gaussian-Student’s t mixture distribution is employed to model process noise and measurement noise respectively.Then Bernoulli random variable is introduced to correct the likelihood distribution of the mixture probability,leading hierarchical Gaussian distribution constructed by the Gaussian-Student’s t mixture distribution suitable to model non-stationary noise.Finally,the approximate solutions including target weights,measurement noise covariance and state estimation error covariance are obtained according to variational Bayesian inference approach.The simulation results show that,in the heavy-tailed noise environment,the proposed algorithm leads to strong improvements over the traditional PHD filter and the Student’s t distribution PHD filter.展开更多
文摘The 19th Asian Games astounded global audiences with an opening spectacle that showcased stunning digital fireworks(International Olympic Committee,2021;Zhe,2023).The groundbreaking display was brought to life through virtual reality(VR)and augmented reality(AR)technologies.It sets a pioneering example to replace conventional fireworks in major international events as well as in other large-scale entertainment activities,marking a historic milestone in the pursuit of a sustainable and healthy future.
基金the National Natural Science Foundation of China(No.61803260)。
文摘Simultaneous localization and mapping(SLAM)has been applied across a wide range of areas from robotics to automatic pilot.Most of the SLAM algorithms are based on the assumption that the noise is timeinvariant Gaussian distribution.In some cases,this assumption no longer holds and the performance of the traditional SLAM algorithms declines.In this paper,we present a robust SLAM algorithm based on variational Bayes method by modelling the observation noise as inverse-Wishart distribution with "harmonic mean".Besides,cubature integration is utilized to solve the problem of nonlinear system.The proposed algorithm can effectively solve the problem of filtering divergence for traditional filtering algorithm when suffering the time-variant observation noise,especially for heavy-tai led noise.To validate the algorithm,we compare it with other t raditional filtering algorithms.The results show the effectiveness of the algorithm.
基金Supported by NSFC(Grant Nos.11771390 and 11371318)Zhejiang Provincial Natural Science Foundation of China(Grant No.LR16A010001)the Fundamental Research Funds for the Central Universities。
文摘A self-weighted quantile procedure is proposed to study the inference for a spatial unilateral autoregressive model with independent and identically distributed innovations belonging to the domain of attraction of a stable law with index of stabilityα,α∈(0,2).It is shown that when the model is stationary,the self-weighted quantile estimate of the parameter has a closed form and converges to a normal limiting distribution,which avoids the difficulty of Roknossadati and Zarepour(2010)in deriving their limiting distribution for an M-estimate.On the contrary,we show that when the model is not stationary,the proposed estimates have the same limiting distributions as those of Roknossadati and Zarepour.Furthermore,a Wald test statistic is proposed to consider the test for a linear restriction on the parameter,and it is shown that under a local alternative,the Wald statistic has a non-central chisquared distribution.Simulations and a real data example are also reported to assess the performance of the proposed method.
基金Supported by the National Natural Science Foundation of China(No.61976080)the Science and Technology Key Project of Science and Technology Department of Henan Province(No.212102310298)the Innovation and Quality Improvement Project for Graduate Education of Henan University(No.SYL20010101)。
文摘Aiming at the problem of filtering precision degradation caused by the random outliers of process noise and measurement noise in multi-target tracking(MTT) system,a new Gaussian-Student’s t mixture distribution probability hypothesis density(PHD) robust filtering algorithm based on variational Bayesian inference(GST-vbPHD) is proposed.Firstly,since it can accurately describe the heavy-tailed characteristics of noise with outliers,Gaussian-Student’s t mixture distribution is employed to model process noise and measurement noise respectively.Then Bernoulli random variable is introduced to correct the likelihood distribution of the mixture probability,leading hierarchical Gaussian distribution constructed by the Gaussian-Student’s t mixture distribution suitable to model non-stationary noise.Finally,the approximate solutions including target weights,measurement noise covariance and state estimation error covariance are obtained according to variational Bayesian inference approach.The simulation results show that,in the heavy-tailed noise environment,the proposed algorithm leads to strong improvements over the traditional PHD filter and the Student’s t distribution PHD filter.
