The classical Fourier transform is one of the most widely used mathematical tools in
engineering. However, few engineers know that extensions of harmonic analysis to …

High-rate GNSS positioning has been widely investigated and applied in science and
engineering. We extend it to high-rate attitude determination under a multi-GNSS …

A nonholonomic system subjected to external noise from the environment, or internal noise
in its own actuators, will evolve in a stochastic manner described by an ensemble of …

Pose estimation problems are fundamental in robotics. Most of these problems are
challenging due to the nonconvex nature. This also sets up an obstacle for uncertainty …

Electromagnetic tracking systems are a practical and cost-effective alternative to vision-
based systems for virtual reality applications, providing a large working range without …

We address general filtering problems on the Euclidean group SE (3). We first generalize, to
stochastic nonlinear systems evolving on SE (3), the particle filter of Liu and West for …

We present the cyclic coordinate descent (CCD) algorithm for optimizing quadratic objective
functions on SE (3), and apply it to a class of robot sensor calibration problems. Exploiting …

This thesis addresses the problem of underwater navigation of robotic vehicles using
acoustic positioning systems. Several estimation problems are considered that are based on …

A multi-antenna-based GNSS receiver is capable of providing high-precision and drift-free
attitude solution. Carrier phase measurements need be utilized to achieve high-precision …

A widely used approach to image registration involves finding the general linear
transformation that maximizes the mutual information between two images, with the …