Abstract--Accurate calibration of intrinsic (odometer scaling factors) and extrinsic parameters (IMU-odometer translation and rotation) is essential for autonomous ground vehicle localization. Existing GNSS-aided approaches often rely on positioning results or raw measurements without ambiguity resolution, and their observability properties remain underexplored. This paper proposes a tightly coupled online calibration method that fuses IMU, odometer, and raw GNSS measurements (pseudo-range, carrier-phase, and Doppler) within an extendable factor graph optimization (FGO) framework, incorporating outlier mitigation and ambiguity resolution. Observability analysis reveals that two horizontal translation and three rotation parameters are observable under general motion, while vertical translation remains unobservable. Simulation and real-world experiments demonstrate superior calibration and localization performance over state-of-the-art loosely coupled methods. Specifically, the IMU-odometer positioning using our calibrated parameters achieves the absolute maximum error of 17.75 m while the one of LC method is 61.51 m, achieving up to 71.14% improvement. T o foster further research, we also release the first open-source dataset that combines IMU, 2D odometer, and raw GNSS measurements from both rover and base stations. T o support future work, we release the first open-source dataset combining IMU, 2D odometer, and raw GNSS measurements from rover and base stations. Localization for autonomous ground vehicles: Localization is a fundamental requirement for AGV, supporting intelligent transportation applications such as delivery, patrolling, search, and rescue [1]. An IMU and an odometer are two common sensors to provide acceleration, velocity and angular velocity for navigation [2]. Generally, they are less susceptible to environmental changes and can be used as dead-reckoning sensors which can incorporate other external sensors (e.g., camera [3], light detection and ranging (LiDAR) [4] and GNSS [5]) to achieve driftless positioning. The problem is, these external sensors are sensitive to environmental conditions.

Vision-aided localization for low-cost mobile robots in diverse environments has attracted widespread attention recently. Although many current systems are applicable in daytime environments, nocturnal visual localization is still an open problem owing to the lack of stable visual information. An insight from most nocturnal scenes is that the static and bright streetlights are reliable visual information for localization. Hence we propose a nocturnal vision-aided localization system in streetlight maps with a novel data association and matching scheme using object detection methods. We leverage the Invariant Extended Kalman Filter (InEKF) to fuse IMU, odometer, and camera measurements for consistent state estimation at night. Furthermore, a tracking recovery module is also designed for tracking failures. Experiments on multiple real nighttime scenes validate that the system can achieve remarkably accurate and robust localization in nocturnal environments.

Composition is a key feature of differential privacy. Well-known advanced composition theorems allow one to query a private database quadratically more times than basic privacy composition would permit. However, these results require that the privacy parameters of all algorithms be fixed before interacting with the data. To address this, Rogers et al. introduced fully adaptive composition, wherein both algorithms and their privacy parameters can be selected adaptively. They defined two probabilistic objects to measure privacy in adaptive composition: privacy filters, which provide differential privacy guarantees for composed interactions, and privacy odometers, time-uniform bounds on privacy loss. There are substantial gaps between advanced composition and existing filters and odometers. First, existing filters place stronger assumptions on the algorithms being composed. Second, these odometers and filters suffer from large constants, making them impractical. We construct filters that match the rates of advanced composition, including constants, despite allowing for adaptively chosen privacy parameters. En route we also derive a privacy filter for approximate zCDP. We also construct several general families of odometers. These odometers match the tightness of advanced composition at an arbitrary, preselected point in time, or at all points in time simultaneously, up to a doubly-logarithmic factor. We obtain our results by leveraging advances in martingale concentration. In sum, we show that fully adaptive privacy is obtainable at almost no loss.

This work proposes a novel approach to 4D radar-based scene flow estimation via cross-modal learning. Our approach is motivated by the co-located sensing redundancy in modern autonomous vehicles. Such redundancy implicitly provides various forms of supervision cues to the radar scene flow estimation. Specifically, we introduce a multi-task model architecture for the identified cross-modal learning problem and propose loss functions to opportunistically engage scene flow estimation using multiple cross-modal constraints for effective model training. Extensive experiments show the state-of-the-art performance of our method and demonstrate the effectiveness of cross-modal supervised learning to infer more accurate 4D radar scene flow. We also show its usefulness to two subtasks - motion segmentation and ego-motion estimation. Our source code will be available on https://github.com/Toytiny/CMFlow.

To build commercial robots, skid-steering mechanical design is of increased popularity due to its manufacturing simplicity and unique mechanism. However, these also cause significant challenges on software and algorithm design, especially for the pose estimation (i.e., determining the robot's rotation and position) of skid-steering robots, since they change their orientation with an inevitable skid. To tackle this problem, we propose a probabilistic sliding-window estimator dedicated to skid-steering robots, using measurements from a monocular camera, the wheel encoders, and optionally an inertial measurement unit (IMU). Specifically, we explicitly model the kinematics of skid-steering robots by both track instantaneous centers of rotation (ICRs) and correction factors, which are capable of compensating for the complexity of track-to-terrain interaction, the imperfectness of mechanical design, terrain conditions and smoothness, etc. To prevent performance reduction in robots' long-term missions, the time- and location- varying kinematic parameters are estimated online along with pose estimation states in a tightly-coupled manner. More importantly, we conduct in-depth observability analysis for different sensors and design configurations in this paper, which provides us with theoretical tools in making the correct choice when building real commercial robots. In our experiments, we validate the proposed method by both simulation tests and real-world experiments, which demonstrate that our method outperforms competing methods by wide margins.

Abstract--Odometer has been proven to significantly improve the accuracy of the Global Navigation Satellite System / Inertial Navigation System (GNSS/INS) integrated vehicle navigation in GNSS-challenged environments. However, the odometer is inaccessible in many applications, especially for aftermarket devices. To apply forward speed aiding without hardware wheeled odometer, we propose OdoNet, an untethered one-dimensional Convolution Neural Network (CNN)-based pseudo-odometer model learning from a single Inertial Measurement Unit (IMU), which can act as an alternative to the wheeled odometer. Dedicated experiments have been conducted to verify the feasibility and robustness of the OdoNet. The results indicate that the IMU individuality, the vehicle loads, and the road conditions have little impact on the robustness and precision of the OdoNet, while the IMU biases and the mounting angles may notably ruin the OdoNet. Thus, a data-cleaning procedure is added to effectively mitigate the impacts of the IMU biases and the mounting angles. Compared to the process using only non-holonomic constraint (NHC), after employing the pseudo-odometer, the positioning error is reduced by around 68%, while the percentage is around 74% for the hardware wheeled odometer. In conclusion, the proposed OdoNet can be employed as an untethered pseudo-odometer for vehicle navigation, which can efficiently improve the accuracy and reliability of the positioning in GNSS-denied environments. Inertial measurement units (IMU) can work I. Inertial Navigation System) integrated navigation system usability of the integrated navigation system. Due to lower cost can provide full navigation parameters, including position, and lower power consumption, low-grade MEMS velocity, and attitude, and thus has been widely used in land (Micro-Electro-Mechanical System) IMU has been widely vehicles. With the wide establishment of the ground-based applied to vehicle navigation.

Differential Privacy (DP) is the leading approach to privacy preserving deep learning. As such, there are multiple efforts to provide drop-in integration of DP into popular frameworks. These efforts, which add noise to each gradient computation to make it DP, rely on composition theorems to bound the total privacy loss incurred over this sequence of DP computations. However, existing composition theorems present a tension between efficiency and flexibility. Most theorems require all computations in the sequence to have a predefined DP parameter, called the privacy budget. This prevents the design of training algorithms that adapt the privacy budget on the fly, or that terminate early to reduce the total privacy loss. Alternatively, the few existing composition results for adaptive privacy budgets provide complex bounds on the privacy loss, with constants too large to be practical. In this paper, we study DP composition under adaptive privacy budgets through the lens of R\'enyi Differential Privacy, proving a simpler composition theorem with smaller constants, making it practical enough to use in algorithm design. We demonstrate two applications of this theorem for DP deep learning: adapting the noise or batch size online to improve a model's accuracy within a fixed total privacy loss, and stopping early when fine-tuning a model to reduce total privacy loss.

Understanding how privacy of an individual degrades as the number of analyses using their data grows is of paramount importance in privacy-preserving data analysis. On one hand, this allows individuals to participate in multiple disjoint statistical analyses, all the while knowing that their privacy cannot be compromised by aggregating the resulting reports. On the other hand, this feature is crucial for privacy-preserving algorithm design -- instead of having to reason about the privacy properties of a complex algorithm, it allows reasoning about the privacy of the subroutines that make up the final algorithm. For differential privacy [11], this accounting of privacy losses is typically done using composition theorems. Importantly, given that statistical analyses often rely on the outputs of previous analyses, and that algorithmic subroutines feed into one another, the composition theorems need to be adaptive, namely, allow the choice of which algorithm to run next to depend on the outputs of all previous computations. For example, in gradient descent, the computation of the gradient depends on the value of the current iterate, which itself is the output of the previous steps of the algorithm. Given the central role that adaptive composition theorems play for differentially private data analysis, they have been investigated in numerous works (e.g.

The prices of new cars in the industry is fixed by the manufacturer with some additional costs incurred by the Government in the form of taxes. So, customers buying a new car can be assured of the money they invest to be worthy. But due to the increased price of new cars and the incapability of customers to buy new cars due to the lack of funds, used cars sales are on a global increase (Pal, Arora and Palakurthy, 2018). There is a need for a used car price prediction system to effectively determine the worthiness of the car using a variety of features. Even though there are websites that offers this service, their prediction method may not be the best. Besides, different models and systems may contribute on predicting power for a used car's actual market value. It is important to know their actual market value while both buying and selling. To be able to predict used cars market value can help both buyers and sellers. Used car sellers (dealers): They are one of the biggest target group that can be interested in results of this study. If used car sellers better understand what makes a car desirable, what the important features are for a used car, then they may consider this knowledge and offer a better service. Online pricing services: There are websites that offers an estimate value of a car. They may have a good prediction model.