Recent Research Results/News

Below you will find a brief list of news related to the research where Thomas Schön is involved.

• Apr 27, 2012: We have some new results accepted for publication at the 15th International Conference on Information Fusion to be held in Singapore during July 9-12 this summer.

  [1] Manon Kok, Jeroen Hol, Thomas B. Schön, Fredrik Gustafsson, Henk Luinge, Calibration of a magnetometer in combination with inertial sensors. [pdf]

  [2] Tohid Ardeshiri, Umut Orguner, Christian Lundquist, Thomas B. Schön, On Mixture Reduction for Multiple Target Tracking. [pdf]

• Mar 30, 2012: Our paper, System identification of nonlinear state-space models [pdf] was the second most downloaded Automatica paper during 2011. The Top 25 list is available here.
• Mar 5, 2012: I have been invited as a guest Professor in Johan Schoukens' graduate course, Identification of Nonlinear Dynamic Systems. During June 6-7 I will give 4 two hour lectures on "Computational inference in dynamical systems", more detailed information available here here. This will be a short version of a full PhD course that I am currently developing and hope to be able to offer in its full form sometime during the coming year.
• Jan 30, 2012: Together with Adrian Wills (University of Newcastle, Australia) and Bhushan Gopaluni (University of British Columbia, Canada) I am organizing an invited session on "Nonlinear System Identification and State Estimation using Sequential Monte Carlo Methods" at the 16th IFAC Symposium on System Identification (SYSID) to be held in Brussels, Belgium during July 11-13 this summer.
• Jan 30, 2012: We have some new results accepted for publication at the 16th IFAC Symposium on System Identification (SYSID) to be held in Brussels, Belgium during July 11-13 this summer.

  [1] Fredrik Lindsten, Thomas B. Schön and Michael I. Jordan, A semiparametric Bayesian approach to Wiener system identification. [pdf]

  [2] Johan Dahlin, Fredrik Lindsten, Thomas B. Schön and Adrian Wills, Robust ARX models with automatic order determination and Student's t innovations. [pdf]

  [3] Soren Henriksen, Adrian Wills, Thomas B. Schön and Brett Ninness, Parallel Implementation of Particle MCMC Methods on a GPU. [pdf]

  [4] Fredrik Lindsten, Thomas B. Schön and Lennart Svensson, A non-degenerate Rao-Blackwellised particle filter for estimating static parameters in dynamical models. [pdf]

  [5] Adrian Wills, Thomas B. Schön, Fredrik Lindsten and Brett Ninness, Estimation of Linear Systems using a Gibbs Sampler. [pdf]

• Jan 24, 2012: Together with Moritz Diehl and the OPTEC group I am organizing a workshop on Moving Horizon Estimation and System Identification in Leuven, Belgium on August 29-30, 2012. Some preliminary information about the workshop can be found here.
  
  

  2011

• Dec 23, 2011: Our new work on the particle Gibbs sampler has been accepted for publication at the 37th International Conference on Acoustics, Speech, and Signal Processing (ICASSP), to be held in Kyoto, Japan,
  [C51] Fredrik Lindsten and Thomas B. Schön. On the use of backward simulation in the particle Gibbs sampler. Proceedings of the 37th International Conference on Acoustics, Speech, and Signal Processing (ICASSP), Kyoto, Japan, March 2012. (accepted for publication) [pdf]
• Dec 5, 2011: During the period January - April 2012 Fredrik Lindsten will pursue his predoc in Michael Jordan's group at Berkeley.
• Oct 27, 2011: On November 25, 2011, 13.15, Christian Lundquist will defend his PhD Thesis in Key 1. The thesis is entitled Sensor Fusion for Automotive Applications and it is available here.
• Oct 14, 2011: We have new algorithms that we think can be very useful for solving various general estimation (both system identification and state estimation) problems in nonlinear dynamical systems. The methods builds on the recently proposed PMCMC method. Let us know what you think.

  [WP] Fredrik Lindsten and Thomas B. Schön. Efficient Particle Markov Chain Monte Carlo - Bayesian inference with a couple of particles. 2011. [arXiv]

• Sep 20, 2011: I will spend the time September 26 - October 24 at the University of Newcastle (Newcastle, Australia) visiting the Signal Processing Microelectronics group, where I will be working together with Adrian Wills and Brett Ninness on nonlinear system identification.
• May 27, 2011: On June 17, 2011, 10.15, Jeroen Hol will present and defend his PhD Thesis in Visionen. The thesis is entitled Sensor Fusion and Calibration using Inertial Sensors, Vision, Ultra-Wideband and GPS and it is available here.
• May 9, 2011: On June 1, 2011, 13.15, Fredrik Lindsten will present and defend his Licentiate Thesis in Visionen. The thesis is entitled Rao-Blackwellised particle methods for inference and identification and it is available here.
• Apr 22, 2011: We have new results on how to estimate the motion of bicycles in images using a particle filtering based approach together with ellipse extraction. The results will be published at the 14th International Conference on Information Fusion in Chicago this summer,

  Tohid Ardeshiri, Fredrik Larsson, Fredrik Gustafsson, Thomas B. Schön and Michael Felsberg. Bicycle Tracking Using Ellipse Extraction. Proceedings of the 14th International Conference on Information Fusion, Chicago, IL, USA, July, 2011. (Accepted for publication) [pdf]

• Apr 8, 2011: We (Patrick Doherty, Anders Ynnerman, Michael Felsberg and Thomas Schön) have been awarded a grant from the Swedish Foundation for Strategic Research (SSF), for research on Unmanned Aircraft Systems (UAS). This is a five-year project worth 15 000 kSEK.
• Mar 21, 2011: Later this spring I am offering an ELLIIT graduate course on Machine Learning at Lund University. See course home page for more information and send me an e-mail if you are interested in attending.
• Mar 11, 2011: We have a new book chapter accepted for publication in Springer's Handbook of Intelligen Vehicles,

  Christian Lundquist, Thomas B. Schön and Fredrik Gustafsson. Situational awareness and road prediction for trajectory control applications. Handbook of Intelligent Vehicles (Ed. A. Eskandarian), Springer, 2011. (Accepted for publication) [pdf] [Springer]

• Feb 23, 2011: Johan Norberg's Master's thesis, Large Scale Terrain Modelling for Autonomous Mining was awarded best Master's thesis 2010 by The Swedish Radio Navigation Board (Radionavigeringsnämnden).
• Feb 21, 2011: We have some new results (both theoretical and applied) accepted for publication at the 18th World Congress of the International Federation of Automatic Control (IFAC) to be held in Milan, Italy in August-September 2011.

  Adrian G. Wills, Thomas B. Schön, Lennart Ljung and Brett Ninness, Blind Identification of Wiener Models. [pdf]

  Fredrik Lindsten, Thomas B. Schön and Jimmy Olsson, An explicit variance reduction expression for the Rao-Blackwellised particle filter. [pdf]

  Zoran Sjanic, Martin A. Skoglund, Thomas B. Schön and Fredrik Gustafsson, A Nonlinear Least-Squares Approach to the SLAM Problem. [pdf]

  Emil Nilsson, Christian Lundquist, Thomas B. Schön, David Forslund and Jacob Roll, Vehicle Motion Estimation Using an Infrared Camera. [pdf]

  R. Bhushan Gopaluni, Thomas B. Schön and Adrian G. Wills, Input Design for Nonlinear Stochastic Dynamic Systems - A Particle Filter Approach. [pdf]

• Feb 7, 2011: Our results on loop closing using laser data are provisionally accepted for publication in the International Journal of Robotics Research,

  Karl Granström, Thomas B. Schön, Juan I. Nieto, and Fabio T. Ramos. Learning to close loops from range data. International Journal of Robotics Research (Provisionally accepted for publication)

• Jan 19, 2011: On February 18, 2011, 10.15 am, Karl Granström will present his Licentiate Thesis in Visionen. The thesis is entitled Loop detection and extended target tracking using laser data and it is available here.
  
  

  2010

• Dec 6, 2010: Next week we will present some new results on nonlinear estimation at the 49th IEEE Conference on Decision and Control (CDC) in Atlanta, USA,

  Fredrik Lindsten and Thomas B. Schön. Identification of Mixed Linear/Nonlinear State-Space Models. [pdf]

  Brett Ninness, Adrian Wills and Thomas B. Schön. Estimation of General Nonlinear State-Space Systems. [pdf]

  Adrian Wills, Thomas B. Schön and Brett Ninness. Estimating State-Space Models in Innovations Form using the Expectation Maximisation Algorithm. [pdf]

  Tianshi Chen, Thomas B. Schön, Henrik Ohlsson and Lennart Ljung. Decentralized Particle Filter with State Partitioning. [pdf]

• Nov 8, 2010: We have generalized our previous convergence results for the particle filter. These results are now provisionally accepted for publication in the IEEE Transactions on Signal Processing,

  Xiao-Li Hu, Thomas B. Schön and Lennart Ljung. A General Convergence Result for Particle Filtering. IEEE Transactions on Signal Processing (Provisionally accepted for publication) [pdf]

• Nov 5, 2010: I have been awarded a grant from the Swedish Research Council (VR) for my project on identification of nonlinear dynamic models.
• Nov 1, 2010: I am together with Henrik Ohlsson and Umut Orguner offering a new graduate course in Machine Learning starting on January 12, 2011. Click here for the course homepage. Send me an e-mail if you are interested in attending this course.
• Oct 24, 2010: Our work on a new decomposition of the state-space for particle filtering has been accepted for publication in the IEEE Transactions on Signal Processing,

  Tianshi Chen, Thomas B. Schön, Henrik Ohlsson and Lennart Ljung. Decentralized Particle Filter with Arbitrary State Decomposition. IEEE Transactions on Signal Processing. (Accepted for publication)

• Aug 4, 2010: I will spend the time August 20 - September 30 at the University of Newcastle (Newcastle, Australia) visiting the Signal Processing Microelectronics group, where I will be working together with Adrian Wills and Brett Ninness on nonlinear system identification.
• July 7, 2010 I am very glad to announce that our paper on identification of nonlinear state-space models has been accepted for publication in Automatica.

  Thomas B. Schön, Adrian Wills and Brett Ninness. System Identification of Nonlinear State-Space Models. Automatica. 2010. (Accepted for publication) [pdf]

• June 23, 2010 I have received a five year individual research grant worth SEK 5 500 000 from the rector of Linköping University.
• June 14, 2010 Our ideas on how to learn to close the loop using 3D point clouds have been accepted for publication at this years IROS.

  Karl Granström and Thomas B. Schön. Learning to Close the Loop from 3D Point Clouds. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Taipei, Taiwan, October 2010. (Accepted for publication) [pdf]

• June 1, 2010 We have some new results on calibrating an ultra-wideband setup for indoor positioning. These results are fundamental for our new approach to indoor positioning using a combination of inertial sensors and ultra-wideband sensors.

  Jeroen Hol, Thomas B. Schön and Fredrik Gustafsson, Ultra-Wideband Calibration for Indoor Positioning. Proceedings of the IEEE International Conference on Ultra-Wideband (ICUWB), Nanjing, China, September 2010. (Accepted for publication) [pdf]

• May 11, 2010 Together with Giorgio Grisetti at the University of Freiburg I am organizing a CADICS workshop, "Learning World Models" on June 21-22 here in Linköping. More information is available here. Let us know if you are interested in attending.
• April 14, 2010 We have some new results on calibrating Head Mounted Displays (HMD) accepted for publication.

  Magnus Axholt, Martin Skoglund, Stephen D. Peterson, Matthew D. Cooper, Thomas B. Schön, Fredrik Gustafsson, Anders Ynnerman and Stephen. R. Ellis. Optical See-Through Head Mounted Display Direct Linear Transformation Calibration Robustness in the Presence of User Alignment Noise. Proceedings of the 54th Annual Meeting of the Human Factors and Ergonomics Society (HFES) , San Francisco, CA, USA, September 2010. (Accepted for publication)

• April 7, 2010 Our initial ideas on how to make use of active illumination for navigation have been accepted for publication.

  Michael Felsberg, Fredrik Larsson, Wang Han, Anders Ynnerman and Thomas B. Schön. Torchlight Navigation. Proceedings of the 20th International Conference on Pattern Recognition (ICPR), Istanbul, Turkey, August 2010. (Accepted for publication) [pdf] [Video]

• March 24, 2010 We were nominated for the best industry-relevant paper award at the Swedish Symposium on Image Analysis (SSBA), Uppsala, Sweden, March 2010.
• Mach 23, 2010: Our paper on joint ego-motion and road geometry estimation is now accepted for publication.

  Christian Lundquist and Thomas B. Schön. Joint ego-motion and road geometry estimation. Information Fusion. 2010 (Accepted for publication) [pdf]

• Jan 2, 2010: Our method for global localisation of an aerial vehicle using classification of image regions has been accepted for publication at the 2010 IEEE International Conference on Robotics and Automation (ICRA2010)

  Fredrik Lindsten, Jonas Callmer, Henrik Ohlsson, David Törnqvist, Thomas B. Schön, Fredrik Gustafsson, Geo-referencing for UAV Navigation using Environmental Classification. Proceedings of the International Conference on Robotics and Automation (ICRA) , Anchorage, Alaska, USA, May 2010. (Accepted for publication) [pdf]

  2009

• Dec 8, 2009: I successfully delivered my docent lecture. A pdf version of the lecture is available here.
• Nov 10, 2009: Our results on how to calibrate a combined camera and IMU sensor have been accepted for publication in the International Journal of Robotics Research (IJRR),

  Jeroen D. Hol, Thomas B. Schön and Fredrik Gustafsson. Modeling and Calibration of Inertial and Vision Sensors. International Journal of Robotics Research (IJRR), 2009. (Accepted for publication)

• Nov 1, 2009: Our new results on identification of nonlinear systems have been provisionally accepted for publication in Automatica,

  Thomas B. Schön, Adrian Wills and Brett Ninness System Identification of Nonlinear State-Space Models . Automatica, 2009. (Provisionally accepted for publication)

• Sep 15, 2009: We won the best student paper award at the IEEE International Conference on Ultra-Wideband (ICUWB) with the paper

  Jeroen Hol, Fred Dijkstra, Henk Luinge and Thomas B. Schön Tightly Coupled UWB/IMU Pose Estimation. Proceedings of the IEEE International Conference on Ultra-Wideband (ICUWB), Vancouver, Canada, September 2009.

• Sep 15, 2009: I have written a technical report explaining how the expectation maximization (EM) algorithm works in the context of dynamical systems. It is awailable here.
• Sep 14, 2009: We have new results on how to combine the marginalized particle filter and the auxiliary particle filter,

  Carsten Fritsche, Thomas B. Schön and Anja Klein, The Marginalized Auxiliary Particle Filter. Proceedings of the Third International Workshop on Computational Advances in Multi-Sensor Adaptive Processing (CAMSAP), Aruba, Dutch Antilles, December 2009. (Accepted for publication)

• Aug 26, 2009: During the period August 29 - September 10 I will be attending the Machine Learning Summer School in Cambridge, UK.
• Jul 10, 2009: We have new experimental results showing how to make use of acceleration measurements in order to improve the tool position estimate of an industrial robot,

  Robert Henriksson, Mikael Norrlof, Stig Moberg, Erik Wernholt and Thomas B. Schön Experimental Comparison of Observers for Tool Position Estimation of Industrial Robots. Proceedings of the 48th IEEE Conference on Decision and Control (CDC), Shanghai, China, December 2009.

• May 18, 2009: We have successfully integrated an IMU with ultra-wideband measurements, resulting in a highly accurate indoor positioning system,

  Jeroen Hol, Fred Dijkstra, Henk Luinge and Thomas B. Schön Tightly Coupled UWB/IMU Pose Estimation. Proceedings of the IEEE International Conference on Ultra-Wideband (ICUWB), Vancouver, Canada, September 2009.

• Apr 27, 2009: He was awarded the best teacher of the year award at Linköping Institute of Technology (Swedish: "Gyllene moroten").
• Apr 14, 2009: He has been nominated for the best teacher of the year award at Linköping Institute of Technology (Swedish: "Gyllene moroten").
• Mar 21, 2009: We have shown that the video stream from an infrared camera can be used to signigicantly improve the ego-motion estimate,

  Thomas B. Schön and Jacob Roll Ego-Motion and Indirect Road Geometry Estimation Using Night Vision. Proceedings of the IEEE Intelligent Vehicle Symposium (IV), Xi'an, Shaanxi, China, June 2009.

• Mar 21, 2009: We have new results for tracking of stationary objects using radar measurements,

  Christian Lundquist, Umut Orguner and Thomas B. Schön Tracking Stationary Extended Objects for Road Mapping using Radar Measurements. Proceedings of the IEEE Intelligent Vehicle Symposium (IV), Xi'an, Shaanxi, China, June 2009.

• Feb 21, 2009: Together with Bhushan Gopaluni (University of British Columbia, Canada) and Adrian Wills (University of Newcastle, Australia) he is organizing an invited session on "Particle Filter Approaches to Nonlinear Estimation and System Identification" at the 15th IFAC Symposium on System Identification held in Saint-Malo, France during July 6-8, this summer.
• Feb 21, 2009: Together with various researchers he has 3 papers accepted for the 15th IFAC Symposium on System Identification held in Saint-Malo, France during July 6-8, this summer, see the publication list for details.
• Jan 8, 2009: During the time Feb. 13 - March 18 he is visiting the Signal Processing Microelectronics group at the University of Newcastle, Newcastle, Australia.

  2008

• Dec 20, 2008: We have some new results on how to make use of off the shelf automotive radars in order to estimate the free space in front of a moving vehicle. The approach relies on our previous sensor fusion framework. It is quite interesting how much information you can obtain from these sparse measurements.

Christian Lundquist and Thomas B. Schön. Estimation of the Free Space in Front of a Moving Vehicle. Proceedings of the SAE 2009 World Congress, Detroit, MI, USA, April 2009.

• He is giving a graduate course entitled "Dynamic Vision", click here for more information.
• He was invited to give the Herman J. Woltring lecture at the 10th International Symposium on 3D analysis of human movement, Amsterdam, The Netherlands, October, 2008. PDF version of the Powerpoint presentation.
• Recently we derived a convergence result for the particle filter for the case of unbounded functions

  Xiao-Li Hu, Thomas B. Schön and Lennart Ljung. A Basic Convergence Result for Particle Filtering. IEEE Transactions on Signal Processing, 56(4):1337-1348, Apr. 2008.

• Our work on using the marginalized particle filter for solving the SLAM problem for UAV's is now accepted for publication,

  David Törnqvist, Thomas B. Schön, Rickard Karlsson and Fredrik Gustafsson. Particle Filter SLAM with High Dimensional Vehicle Model Journal of Intelligent and Robotic Systems, (accepted for publication).

• We have a new algorithm for calibrating a camera (both standard and sperical) and an IMU, which are rigidly connected. The main benefit compared to existing approaches is that we do not require any additional hardware.

  Jeroen D. Hol, Thomas B. Schön, and Fredrik Gustafsson, Relative Pose Calibration of a Spherical Camera and an IMU. The 7th IEEE and ACM International Symposium on Mixed and Augmented Reality (ISMAR), Cambridge, United Kingdom, September 2008.

  Jeroen D. Hol, Thomas B. Schön, and Fredrik Gustafsson, A New Algorithm for Calibrating a Combined Camera and IMU Sensor Unit. Proceedings of the 10th International Conference on Control, Automation, Robotics and Vision (ICARCV), Hanoi, Vietnam, December 2008.