Pose estimation is essential for many applications within computer vision and robotics. Despite its uses, few works provide rigorous uncertainty quantification for poses under dense or learned models. W e derive a closed-form lower bound on the covariance of camera pose estimates by treating a differentiable renderer as a measurement function. Linearizing image formation with respect to a small pose perturbation on the manifold yields a render-aware Cram er-Rao bound. Our approach reduces to classical bundle-adjustment uncertainty, ensuring continuity with vision theory. It also naturally extends to multi-agent settings by fusing Fisher information across cameras. Our statistical formulation has downstream applications for tasks such as cooperative perception and novel view synthesis without requiring explicit keypoint correspondences.

Deep learning has substantially advanced the field of Single Image Super-Resolution (SISR). However, existing research has predominantly focused on raw performance gains, with little attention paid to quantifying the transferability of architectural components. In this paper, we introduce the concept of "Universality" and its associated definitions, which extend the traditional notion of "Generalization" to encompass the ease of transferability of modules. We then propose the Universality Assessment Equation (UAE), a metric that quantifies how readily a given module can be transplanted across models and reveals the combined influence of multiple existing metrics on transferability. Guided by the UAE results of standard residual blocks and other plug-and-play modules, we further design two optimized modules: the Cycle Residual Block (CRB) and the Depth-Wise Cycle Residual Block (DCRB). Through comprehensive experiments on natural-scene benchmarks, remote-sensing datasets, and other low-level tasks, we demonstrate that networks embedded with the proposed plug-and-play modules outperform several state-of-the-art methods, achieving a PSNR improvement of up to 0.83 dB or enabling a 71.3% reduction in parameters with negligible loss in reconstruction fidelity. Similar optimization approaches could be applied to a broader range of basic modules, offering a new paradigm for the design of plug-and-play modules.

This paper focuses on static source localization employing different combinations of measurements, including time-difference-of-arrival (TDOA), received-signal-strength (RSS), angle-of-arrival (AOA), and time-of-arrival (TOA) measurements. Since sensor-source geometry significantly impacts localization accuracy, the strategies of optimal sensor placement are proposed systematically using combinations of hybrid measurements. Firstly, the relationship between sensor placement and source estimation accuracy is formulated by a derived Cramér-Rao bound (CRB). Secondly, the A-optimality criterion, i.e., minimizing the trace of the CRB, is selected to calculate the smallest reachable estimation mean-squared-error (MSE) in a unified manner. Thirdly, the optimal sensor placement strategies are developed to achieve the optimal estimation bound. Specifically, the specific constraints of the optimal geometries deduced by specific measurement, i.e., TDOA, AOA, RSS, and TOA, are found and discussed theoretically. Finally, the new findings are verified by simulation studies.

Abstract--In this paper, we analyze the performance of the estimation of Laplacian matrices under general observatio n models. Laplacian matrix estimation involves structural c on-straints, including symmetry and null-space properties, a long with matrix sparsity. By exploiting a linear reparametriza tion that enforces the structural constraints, we derive closed -form matrix expressions for the Cram er-Rao Bound (CRB) specifically tailored to Laplacian matrix estimation. We further extend the derivation to the sparsity-constrained case, introduc ing two oracle CRBs that incorporate prior information of the suppo rt set, i.e. the locations of the nonzero entries in the Laplaci an matrix. We examine the properties and order relations betwe en the bounds, and provide the associated Slepian-Bangs formu la for the Gaussian case. We demonstrate the use of the new CRBs in three representative applications: (i) topology identi fication in power systems, (ii) graph filter identification in diffuse d models, and (iii) precision matrix estimation in Gaussian M arkov random fields under Laplacian constraints. The CRBs are eval - uated and compared with the mean-squared-errors (MSEs) of the constrained maximum likelihood estimator (CMLE), whic h integrates both equality and inequality constraints along with sparsity constraints, and of the oracle CMLE, which knows the locations of the nonzero entries of the Laplacian matrix . We perform this analysis for the applications of power syste m topology identification and graphical LASSO, and demonstra te that the MSEs of the estimators converge to the CRB and oracle CRB, given a sufficient number of measurements. Graph-structured data and signals arise in numerous applications, including power systems, communications, finance, social networks, and biological networks, for analysis and inference of networks [ 2 ], [ 3 ]. In this context, the Laplacian matrix, which captures node connectivity and edge weights, serves as a fundamental tool for clustering [ 4 ], modeling graph diffusion processes [ 5 ], [ 6 ], topology inference [ 6 ]-[ 12 ], anomaly detection [ 13 ], graph-based filtering [ 14 ]-[ 18 ], and analyzing smoothness on graphs [ 19 ]. M. Halihal and T. Routtenberg are with the School of Electric al and Computer Engineering, Ben-Gurion University of the Negev, Beer-Sheva 84105, Israel, e-mail: moradha@post.bgu.ac.il, tirzar@b gu.ac.il.

Multidimensional data acquisition often requires extensive time and poses significant challenges for hardware and software regarding data storage and processing. Rather than designing a single compression matrix as in conventional compressed sensing, structured compressed sensing yields dimension-specific compression matrices, reducing the number of optimizable parameters. Recent advances in machine learning (ML) have enabled task-based supervised learning of subsampling matrices, albeit at the expense of complex downstream models. Additionally, the sampling resource allocation across dimensions is often determined in advance through heuristics. To address these challenges, we introduce Structured COmpressed Sensing with Automatic Resource Allocation (SCOSARA) with an information theory-based unsupervised learning strategy. SCOSARA adaptively distributes samples across sampling dimensions while maximizing Fisher information content. Using ultrasound localization as a case study, we compare SCOSARA to state-of-the-art ML-based and greedy search algorithms. Simulation results demonstrate that SCOSARA can produce high-quality subsampling matrices that achieve lower Cram\'er-Rao Bound values than the baselines. In addition, SCOSARA outperforms other ML-based algorithms in terms of the number of trainable parameters, computational complexity, and memory requirements while automatically choosing the number of samples per axis.

In modern radar systems, precise target localization using azimuth and velocity estimation is paramount. Traditional unbiased estimation methods have utilized gradient descent algorithms to reach the theoretical limits of the Cramer Rao Bound (CRB) for the error of the parameter estimates. As an extension, we demonstrate on a realistic simulated example scenario that our earlier presented data-driven neural network model outperforms these traditional methods, yielding improved accuracies in target azimuth and velocity estimation. We emphasize, however, that this improvement does not imply that the neural network outperforms the CRB itself. Rather, the enhanced performance is attributed to the biased nature of the neural network approach. Our findings underscore the potential of employing deep learning methods in radar systems to achieve more accurate localization in cluttered and dynamic environments.

Covariance matrix estimation is a fundamental problem in the field of statistical signal processing. Many algorithms for detection and inference rely on accurate covariance estimators [1, 2]. The problem is well understood in the Gaussian unstructured case. But becomes significantly harder when the underlying distribution is non-Gaussian, for example in elliptical distributions, and when there is prior knowledge on the structure. In this paper, we propose a unified framework for covariance estimation in elliptical distributions with general convex structure. Over the last years there was a great interest in covariance estimation with known structure. The motivation to these works is that in many modern applications the dimension of the underlying distribution is large and there are not enough samples to estimate it precisely without additional structure hypotheses. The prior information on the structure reduces the number of degrees of freedom in the model and allows accurate estimation with a small number of samples. This is clearly true when the structure is exact, but also when it is approximate due to the well known bias-variance tradeoff.

In this paper we address the problem of matrix factorization on compressively-sampled measurements which are obtained by random projections. While this approach improves the scalability of matrix factorization, its performance is not satisfactory. We present a matrix co-factorization method where compressed measurements and a small number of uncompressed measurements are jointly decomposed, sharing a factor matrix. We evaluate the performance of three matrix factorization methods in terms of Cram{\'e}r-Rao bounds, including: (1) matrix factorization on uncompressed data (MF); (2) matrix factorization on compressed data (CS-MF); (3) matrix co-factorization on compressed and uncompressed data (CS-MCF). Numerical experiments demonstrate that CS-MCF improves the performance of CS-MF, emphasizing the useful behavior of exploiting side information (a small number of uncompressed measurements).