This paper analyses the properties of the full covariance simultaneous map building problem (SLAM). We prove that, for the special case of a stationary vehicle (with no process noise) which uses a range-bearing sensor and has non-zero angular uncertainty, the fullcovariance SLAM algorithm always yields an inconsistent map. We also show, through simulations, that these conclusions appear to exte...

It is well known that the introduction of acoustic background distortion into speech causes recognition algorithms to fail. In order to improve the environmental robustness of speech recognition in adverse conditions, a novel constrained-iterative feature-estimation algorithm, which was previously formulated for speech enhancement, is considered and shown to produce improved feature characteriz...

We show that two families of germs of real-analytic subsets in Cn are formally equivalent if and only if they are equivalent of any finite order. We further apply the same technique to obtain analogous statements for equivalences of real-analytic self-maps and vector fields under conjugations. On the other hand, we provide an example of two sets of germs of smooth curves that are equivalent of ...

For denoising depth maps from time-of-flight (ToF) cameras we propose an adaptive total variation based approach of first and second order. This approach allows us to take into account the geometric properties of the depth data, such as edges and slopes. To steer adaptivity we utilize a special kind of structure tensor based on both the amplitude and phase of the recorded ToF signal. A comparis...

This paper introduces two shon-time spectral amplitude estimators for speech enhancement with multiple microphones. Based on joint Gaussian models of speech and noise Fourier coefficients the clean speech amplitudes are estimated with respect to the MMSE or the MAP criterion. The estimators outperform single microphone minimum mean square amplitude estimators when the speech is highly correlate...

Sky temperature map of the cosmic microwave background (CMB) is one of the premier probes of cosmology. To minimize instrumentally induced systematic errors, CMB anisotropy experiments measure temperature differences across the sky using paires of horn antennas with a fixed separation angle, temperature maps are recovered from temperature differences obtained in sky survey through a map-making ...

It is well known that the introduction of acoustic background distortion into speech causes recognition algorithms to fail. In order to improve the environmental robustness of speech recognition in adverse conditions, a novel constrainediterative feature-estimation algorithm, which was previously formulated for speech enhancement, is considered and shown to produce improved feature characteriza...

Validation is a necessity to trust the structures solved by electron microscopy by single particle techniques. The impressive achievements in single particle reconstruction fuel its expansion beyond a small community of image processing experts. This poses the risk of inappropriate data processing with dubious results. Nowhere is it more clearly illustrated than in the recovery of a reference d...

Weak lensing surveys have become a powerful tool for mapping mass distributions and constraining the expansion history of our Universe, but continuum surveys must average over a large number of galaxies to average down the ellipticity noise due to the unknown ellipticity and orientation of the lensed galaxies. This Letter presents a technique for measuring weak lensing with velocity maps that a...