We initiate the study of stochastic optimization with oblivious noise, broadly generalizing the standard heavy-tailed noise setup.

We introduce Cycle-Sync, a robust and global framework for estimating camera poses (both rotations and locations). Our core innovation is a location solver that adapts message-passing least squares (MPLS) -- originally developed for group synchronization -- to camera location estimation. We modify MPLS to emphasize cycle-consistent information, redefine cycle consistencies using estimated distances from previous iterations, and incorporate a Welsch-type robust loss. We establish the strongest known deterministic exact-recovery guarantee for camera location estimation, showing that cycle consistency alone -- without access to inter-camera distances -- suffices to achieve the lowest sample complexity currently known. To further enhance robustness, we introduce a plug-and-play outlier rejection module inspired by robust subspace recovery, and we fully integrate cycle consistency into MPLS for rotation synchronization. Our global approach avoids the need for bundle adjustment. Experiments on synthetic and real datasets show that Cycle-Sync consistently outperforms leading pose estimators, including full structure-from-motion pipelines with bundle adjustment.

We initiate the study of stochastic optimization with oblivious noise, broadly generalizing the standard heavy-tailed noise setup.

This problem is known as location parameter estimation in the statistics literature.

LeCam's two-point testing method yields perhaps the simplest lower bound for estimating the mean of a distribution: roughly, if it is impossible to well-distinguish a distribution centered at $\mu$ from the same distribution centered at $\mu+\Delta$, then it is impossible to estimate the mean by better than $\Delta/2$. It is setting-dependent whether or not a nearly matching upper bound is attainable. We study the conditions under which the two-point testing lower bound can be attained for univariate mean estimation; both in the setting of location estimation (where the distribution is known up to translation) and adaptive location estimation (unknown distribution). Roughly, we will say an estimate nearly attains the two-point testing lower bound if it incurs error that is at most polylogarithmically larger than the Hellinger modulus of continuity for $\tilde{\Omega}(n)$ samples. Adaptive location estimation is particularly interesting as some distributions admit much better guarantees than sub-Gaussian rates (e.g. $\operatorname{Unif}(\mu-1,\mu+1)$ permits error $\Theta(\frac{1}{n})$, while the sub-Gaussian rate is $\Theta(\frac{1}{\sqrt{n}})$), yet it is not obvious whether these rates may be adaptively attained by one unified approach. Our main result designs an algorithm that nearly attains the two-point testing rate for mixtures of symmetric, log-concave distributions with a common mean. Moreover, this algorithm runs in near-linear time and is parameter-free. In contrast, we show the two-point testing rate is not nearly attainable even for symmetric, unimodal distributions. We complement this with results for location estimation, showing the two-point testing rate is nearly attainable for unimodal distributions, but unattainable for symmetric distributions.

A heterogeneous micro aerial vehicles (MAV) swarm consists of resource-intensive but expensive advanced MAVs (AMAVs) and resource-limited but cost-effective basic MAVs (BMAVs), offering opportunities in diverse fields. Accurate and real-time localization is crucial for MAV swarms, but current practices lack a low-cost, high-precision, and real-time solution, especially for lightweight BMAVs. We find an opportunity to accomplish the task by transforming AMAVs into mobile localization infrastructures for BMAVs. However, turning this insight into a practical system is non-trivial due to challenges in location estimation with BMAVs' unknown and diverse localization errors and resource allocation of AMAVs given coupled influential factors. This study proposes TransformLoc, a new framework that transforms AMAVs into mobile localization infrastructures, specifically designed for low-cost and resource-constrained BMAVs. We first design an error-aware joint location estimation model to perform intermittent joint location estimation for BMAVs and then design a proximity-driven adaptive grouping-scheduling strategy to allocate resources of AMAVs dynamically. TransformLoc achieves a collaborative, adaptive, and cost-effective localization system suitable for large-scale heterogeneous MAV swarms. We implement TransformLoc on industrial drones and validate its performance. Results show that TransformLoc outperforms baselines including SOTA up to 68\% in localization performance, motivating up to 60\% navigation success rate improvement.

Given a set of hidden variables with an a-priori Markov structure, we derive an online algorithm which approximately updates the posterior as pairwise measurements between the hidden variables become available. The update is performed using Assumed Density Filtering: to incorporate each pairwise measurement, we compute the optimal Markov structure which represents the true posterior and use it as a prior for incorporating the next measurement. We demonstrate the resulting algorithm by cal- culating globally consistent trajectories of a robot as it navigates along a 2D trajectory. To update a trajectory of length t, the update takes O(t). When all conditional distributions are linear-Gaussian, the algorithm can be thought of as a Kalman Filter which simplifies the state covariance matrix after incorporating each measurement.

Robot person following (RPF) is a capability that supports many useful human-robot-interaction (HRI) applications. However, existing solutions to person following often assume full observation of the tracked person. As a consequence, they cannot track the person reliably under partial occlusion where the assumption of full observation is not satisfied. In this paper, we focus on the problem of robot person following under partial occlusion caused by a limited field of view of a monocular camera. Based on the key insight that it is possible to locate the target person when one or more of his/her joints are visible, we propose a method in which each visible joint contributes a location estimate of the followed person. Experiments on a public person-following dataset show that, even under partial occlusion, the proposed method can still locate the person more reliably than the existing SOTA methods. As well, the application of our method is demonstrated in real experiments on a mobile robot.

The paper is motivated by the importance of the Smart Cities (SC) concept for future management of global urbanization. Among all Internet of Things (IoT)-based communication technologies, Bluetooth Low Energy (BLE) plays a vital role in city-wide decision making and services. Extreme fluctuations of the Received Signal Strength Indicator (RSSI), however, prevent this technology from being a reliable solution with acceptable accuracy in the dynamic indoor tracking/localization approaches for ever-changing SC environments. The latest version of the BLE v.5.1 introduced a better possibility for tracking users by utilizing the direction finding approaches based on the Angle of Arrival (AoA), which is more reliable. There are still some fundamental issues remaining to be addressed. Existing works mainly focus on implementing stand-alone models overlooking potentials fusion strategies. The paper addresses this gap and proposes a novel Reinforcement Learning (RL)-based information fusion framework (RL-IFF) by coupling AoA with RSSI-based particle filtering and Inertial Measurement Unit (IMU)-based Pedestrian Dead Reckoning (PDR) frameworks. The proposed RL-IFF solution is evaluated through a comprehensive set of experiments illustrating superior performance compared to its counterparts.

Recent artificial intelligence-based methods have shown great promise in the use of neural networks for real-time sensing and detection of transmission line faults and estimation of their locations. The expansion of power systems including transmission lines with various lengths have made a fault detection, classification, and location estimation process more challenging. Transmission line datasets are stream data which are continuously collected by various sensors and hence, require generalized and fast fault diagnosis approaches. Newly collected datasets including voltages and currents might not have enough and accurate labels (fault and no fault) that are useful to train neural networks. In this paper, a novel transfer learning framework based on a pre-trained LeNet-5 convolutional neural network is proposed. This method is able to diagnose faults for different transmission line lengths and impedances by transferring the knowledge from a source convolutional neural network to predict a dissimilar target dataset. By transferring this knowledge, faults from various transmission lines, without having enough labels, can be diagnosed faster and more efficiently compared to the existing methods. To prove the feasibility and effectiveness of this methodology, seven different datasets that include various lengths of transmission lines are used. The robustness of the proposed methodology against generator voltage fluctuation, variation in fault distance, fault inception angle, fault resistance, and phase difference between the two generators are well shown, thus proving its practical values in the fault diagnosis of transmission lines.