Towards Semantic SLAM: 3D Position and Velocity Estimation by Fusing Image Semantic Information with Camera Motion Parameters for Traffic Scene Analysis. - Mansour, Mostafa; Davidson, Pavel; Stepanov, Oleg A.; Piché, Robert (Remote. Sens., 2021)

Indirect Estimation of Vertical Ground Reaction Force from a Body-Mounted INS/GPS Using Machine Learning. - Sharma, Dharmendra; Davidson, Pavel; Müller, Philipp; Piché, Robert (Sensors, 2021)

Gaussian mixture models for signal mapping and positioning. - Raitoharju, Matti; García-Fernández, Ángel F.; Hostettler, Roland; Piché, Robert; Särkkä, Simo (Signal Process., 2020)

Audio Source Positioning Based on Angle of Arrival Measurements Using Particle Filter. - Lager, Mikko; Ali-Löytty, Simo; Piché, Robert (2020)

Relative Importance of Binocular Disparity and Motion Parallax for Depth Estimation: A Computer Vision Approach. - Mansour, Mostafa; Davidson, Pavel; Stepanov, Oleg A.; Piché, Robert (Remote. Sens., 2019)

Continuous Analysis of Running Mechanics by Means of an Integrated INS/GPS Device. - Davidson, Pavel; Virekunnas, Heikki; Sharma, Dharmendra; Piché, Robert; Cronin, Neil J. (Sensors, 2019)

Automatic numerical differentiation by maximum likelihood estimation of a linear Gaussian state space model. - Piché, Robert (2019)

Methods for Long-Term GNSS Clock Offset Prediction. - Pihlajasalo, Jaakko; Leppäkoski, Helena; Kuismanen, Saara; Ali-Löytty, Simo; Piché, Robert (2019)

Analyzing the Acquisition and Management of Context. - Rodriguez, Alejandro Rivero; Nykänen, Ossi; Piché, Robert (Int. J. Interact. Commun. Syst. Technol., 2018)

Damped Posterior Linearization Filter. - Raitoharju, Matti; Svensson, Lennart; García-Fernández, Ángel F.; Piché, Robert (IEEE Signal Process. Lett., 2018)

Skew-t Filter and Smoother With Improved Covariance Matrix Approximation. - Nurminen, Henri; Ardeshiri, Tohid; Piché, Robert; Gustafsson, Fredrik (IEEE Trans. Signal Process., 2018)

3D Angle-of-Arrival Positioning Using von Mises-Fisher Distribution. - Nurminen, Henri; Suomalainen, Laura; Ali-Löytty, Simo; Piché, Robert (2018)

Indoor Localisation using Aroma Fingerprints: Comparing Nearest Neighbour Classification Accuracy using Different Distance Measures. - Minaev, Georgy; Müller, Philipp; Visa, Ari; Piché, Robert (2018)

Kalman-Type Filters and Smoothers for Pedestrian Dead Reckoning. - Ivanov, Pavel; Raitoharju, Matti; Piché, Robert (2018)

A Survey of Selected Indoor Positioning Methods for Smartphones. - Davidson, Pavel; Piché, Robert (IEEE Commun. Surv. Tutorials, 2017)

Semantic Labeling of User Location Context Based on Phone Usage Features. - Leppäkoski, Helena; Rodriguez, Alejandro Rivero; Rautalin, Sakari; Martínez, David Muñoz; Käppi, Jani; Ali-Löytty, Simo; Piché, Robert (Mob. Inf. Syst., 2017)

Kullback-Leibler divergence approach to partitioned update Kalman filter. - Raitoharju, Matti; García-Fernández, Ángel F.; Piché, Robert (Signal Process., 2017)

A Survey on Wireless Transmitter Localization Using Signal Strength Measurements. - Nurminen, Henri; Dashti, Marzieh; Piché, Robert (Wirel. Commun. Mob. Comput., 2017)

Gaussian flow sigma point filter for nonlinear Gaussian state-space models. - Nurminen, Henri; Piché, Robert; Godsill, Simon J. (2017)

Parametrization and prediction of EGNOS GIVD values. - Mäkelä, Maija; Ali-Löytty, Simo; Müller, Philipp; Piché, Robert (2017)

Latent force models in autonomous GNSS satellite orbit prediction. - Rautalin, Sakari; Ali-Löytty, Simo; Piché, Robert (2017)

Comprehensive survey of similarity measures for ranked based location fingerprinting algorithm. - Minaev, Georgy; Visa, Ari; Piché, Robert (2017)

A method for post-mission velocity and orientation estimation based on data fusion from MEMS-IMU and GNSS. - Davidson, Pavel; Piché, Robert (2017)

Indoor localisation using aroma fingerprints: A first sniff. - Müller, Philipp; Ali-Löytty, Simo; Lekkala, Jukka; Piché, Robert (2017)

3D angle-of-arrival positioning using von Mises-Fisher distribution. - Nurminen, Henri; Suomalainen, Laura; Ali-Löytty, Simo; Piché, Robert (CoRR, 2017)

Gaussian Scale Mixture Models for Robust Linear Multivariate Regression with Missing Data. - Ala-Luhtala, Juha; Piché, Robert (Commun. Stat. Simul. Comput., 2016)

Enabling Technologies for Smart Mobile Services. - Brida, Peter; Piché, Robert; Kotsopoulos, Stavros; Krejcar, Ondrej; Papapanagiotou, Ioannis (Mob. Inf. Syst., 2016)

An Introduction to Twisted Particle Filters and Parameter Estimation in Non-Linear State-Space Models. - Ala-Luhtala, Juha; Whiteley, Nick; Heine, Kari; Piché, Robert (IEEE Trans. Signal Process., 2016)

Statistical Trilateration With Skew-t Distributed Errors in LTE Networks. - Müller, Philipp; Peral-Rosado, José A. del; Piché, Robert; Seco-Granados, Gonzalo (IEEE Trans. Wirel. Commun., 2016)

Cramér-Rao lower bound for linear filtering with t-distributed measurement noise. - Piché, Robert (2016)

An efficient indoor positioning particle filter using a floor-plan based proposal distribution. - Nurminen, Henri; Raitoharju, Matti; Piché, Robert (2016)

A systematic approach for Kalman-type filtering with non-Gaussian noises. - Raitoharju, Matti; Piché, Robert; Nurminen, Henri (2016)

Extended prediction of QZSS orbit and clock. - Leppäkoski, Helena; Rautalin, Sakari; Zhang, Xiaolong; Ali-Löytty, Simo; Piché, Robert (2016)

A simplified Solar Radiation Pressure model for GNSS autonomous orbit prediction. - Zhang, Xiaolong; Piché, Robert (2016)

Skew-t inference with improved covariance matrix approximation. - Nurminen, Henri; Ardeshiri, Tohid; Piché, Robert; Gustafsson, Fredrik (CoRR, 2016)

Skew-t Filter and Smoother with Improved Covariance Matrix Approximation. - Nurminen, Henri; Ardeshiri, Tohid; Piché, Robert; Gustafsson, Fredrik (CoRR, 2016)

Kalman filter with a linear state model for PDR+WLAN positioning and its application to assisting a particle filter. - Raitoharju, Matti; Nurminen, Henri; Piché, Robert (EURASIP J. Adv. Signal Process., 2015)

Binomial Gaussian mixture filter. - Raitoharju, Matti; Ali-Löytty, Simo; Piché, Robert (EURASIP J. Adv. Signal Process., 2015)

Gaussian filtering and variational approximations for Bayesian smoothing in continuous-discrete stochastic dynamic systems. - Ala-Luhtala, Juha; Särkkä, Simo; Piché, Robert (Signal Process., 2015)

Robust Inference for State-Space Models with Skewed Measurement Noise. - Nurminen, Henri; Ardeshiri, Tohid; Piché, Robert; Gustafsson, Fredrik (IEEE Signal Process. Lett., 2015)

Graph-based map matching for indoor positioning. - Koivisto, Mike; Nurminen, Henri; Ali-Löytty, Simo; Piché, Robert (2015)

Statistical sensor fusion of ultra wide band ranging and real time kinematic satellite navigation. - Khan, Muhammad Waqas Ahmad; Lohan, Elena Simona; Piché, Robert (2015)

Received signal strength models for WLAN and BLE-based indoor positioning in multi-floor buildings. - Lohan, Elena Simona; Talvitie, Jukka; Silva, Pedro Figueiredo e; Nurminen, Henri; Ali-Löytty, Simo; Piché, Robert (2015)

Statistical trilateration with skew-t errors. - Müller, Philipp; Piché, Robert (2015)

GNSS orbit prediction with enhanced force model. - Pukkila, Andrei; Ala-Luhtala, Juha; Piché, Robert; Ali-Löytty, Simo (2015)

A NLOS-robust TOA positioning filter based on a skew-t measurement noise model. - Nurminen, Henri; Ardeshiri, Tohid; Piché, Robert; Gustafsson, Fredrik (2015)

Robust Inference for State-Space Models with Skewed Measurement Noise. - Nurminen, Henri; Ardeshiri, Tohid; Piché, Robert; Gustafsson, Fredrik (CoRR, 2015)

A Survey of Code Optimization Methods for Kalman Filter Extensions. - Raitoharju, Matti; Piché, Robert (CoRR, 2015)

Adaptive mobile tracking in unknown non-line-of-sight conditions with application to digital TV networks. - Chen, Liang; Piché, Robert; Kuusniemi, Heidi; Chen, Ruizhi (EURASIP J. Adv. Signal Process., 2014)

SO-I: a surrogate model algorithm for expensive nonlinear integer programming problems including global optimization applications. - Müller, Juliane; Shoemaker, Christine A.; Piché, Robert (J. Glob. Optim., 2014)

Bayesian analysis of GUHA hypotheses. - Piché, Robert; Järvenpää, Marko; Turunen, Esko; Simunek, Milan (J. Intell. Inf. Syst., 2014)

UWB Positioning with GeneralizedGaussian Mixture Filters. - Müller, Philipp; Wymeersch, Henk; Piché, Robert (IEEE Trans. Mob. Comput., 2014)

A field test of parametric WLAN-fingerprint-positioning methods. - Müller, Philipp; Raitoharju, Matti; Piché, Robert (2014)

Evaluating the consistency of estimation. - Ivanov, Pavel; Ali-Löytty, Simo; Piché, Robert (2014)

Application of the Hill-Clohessy-Wiltshire equation in GNSS orbit prediction. - Zhang, Xiaolong; Piché, Robert (2014)

Motion model for positioning with graph-based indoor map. - Nurminen, Henri; Koivisto, Mike; Ali-Löytty, Simo; Piché, Robert (2014)

On convergence and accuracy of state-space approximations of squared exponential covariance functions. - Särkkä, Simo; Piché, Robert (2014)

Semantic labeling of places based on phone usage features using supervised learning. - Rodriguez, Alejandro Rivero; Leppäkoski, Helena; Piché, Robert (2014)

A method to enforce map constraints in a particle filter's position estimate. - Piché, Robert; Koivisto, Mike (2014)

Calibration of GARCH models using concurrent accelerated random search. - Müller, Juliane; Kanniainen, Juho; Piché, Robert (Appl. Math. Comput., 2013)

SO-MI: A surrogate model algorithm for computationally expensive nonlinear mixed-integer black-box global optimization problems. - Müller, Juliane; Shoemaker, Christine A.; Piché, Robert (Comput. Oper. Res., 2013)

Device self-calibration in location systems using signal strength histograms. - Laoudias, Christos; Piché, Robert; Panayiotou, Christos G. (J. Locat. Based Serv., 2013)

A linear state model for PDR+WLAN positioning. - Raitoharju, Matti; Nurminen, Henri; Piché, Robert (2013)

Particle filter and smoother for indoor localization. - Nurminen, Henri; Ristimaki, Anssi; Ali-Löytty, Simo; Piché, Robert (2013)

Bandwidth and storage reduction of radio maps for offline WLAN positioning. - Wirola, Laura; Wirola, Lauri; Piché, Robert (2013)

Mobile Tracking in Mixed Line-of-Sight/Non-Line-of-Sight Conditions: Algorithm and Theoretical Lower Bound. - Chen, Liang; Ali-Löytty, Simo; Piché, Robert; Wu, Lenan (Wirel. Pers. Commun., 2012)

Bayesian approach to spectrum sensing for cognitive radio applications. - Gokceoglu, Ahmet Hasim; Piché, Robert; Valkama, Mikko (2012)

Outlier-robust estimation of GPS satellite clock offsets. - Martikainen, Simo; Piché, Robert; Ali-Löytty, Simo (2012)

Device signal strength self-calibration using histograms. - Laoudias, Christos; Piché, Robert; Panayiotou, Christos G. (2012)

Statistical path loss parameter estimation and positioning using RSS measurements in indoor wireless networks. - Nurminen, Henri; Talvitie, Jukka; Ali-Löytty, Simo; Müller, Philipp; Lohan, Elena Simona; Piché, Robert; Renfors, Markku (2012)

Spatter Tracking in Laser Machining. - Viitanen, Timo; Kolehmainen, Jari; Piché, Robert; Okamoto, Yasuhiro (2012)

Recursive outlier-robust filtering and smoothing for nonlinear systems using the multivariate student-t distribution. - Piché, Robert; Särkkä, Simo; Hartikainen, Jouni (2012)

Converting GNSS satellite orbit segments to GPS-compatible format. - Kosola, Heikki; Ali-Löytty, Simo; Piché, Robert (2012)

Statistical path loss parameter estimation and positioning using RSS measurements. - Nurminen, Henri; Talvitie, Jukka; Ali-Löytty, Simo; Müller, Philipp; Lohan, Elena Simona; Piché, Robert; Renfors, Markku (2012)

Bayesian fault detection method for linear systems with outliers. - Pesonen, Henri; Piché, Robert (2012)

Gaussian mixture filter allowing negative weights and its application to positioning using signal strength measurements. - Müller, Philipp; Ali-Löytty, Simo; Dashti, Marzieh; Nurminen, Henri; Piché, Robert (2012)

Robust Kalman filter for positioning with wireless BS coverage areas. - Dashti, Marzieh; Ali-Löytty, Simo; Wirola, Laura; Müller, Philipp; Nurminen, Henri; Piché, Robert (2012)

On the Parametric Instability Caused by Step Size Variation in Runge-Kutta-Nyström Methods - Piché, Robert (CoRR, 2012)

Mixture surrogate models based on Dempster-Shafer theory for global optimization problems. - Müller, Juliane; Piché, Robert (J. Glob. Optim., 2011)

Forecasting the Diffusion of Innovation: A Stochastic Bass Model With Log-Normal and Mean-Reverting Error Process. - Kanniainen, Juho; Mäkinen, Saku J.; Piché, Robert; Chakrabarti, Alok (IEEE Trans. Engineering Management, 2011)

Rank based fingerprinting algorithm for indoor positioning. - Machaj, Juraj; Brida, Peter; Piché, Robert (2011)

Mobile tracking and parameter learning in unknown non-line-of-sight conditions. - Chen, Liang; Piché, Robert (2010)

Indoor positioning using WLAN coverage area estimates. - Koski, Laura; Perälä, Tommi; Piché, Robert (2010)

Bayesian Assaying of GUHA Nuggets. - Piché, Robert; Turunen, Esko (2010)

Mobile tracking in unknown non-line-of-sight conditions. - Liang, Chen; Pesonen, Henri; Piché, Robert (2010)

Cubature-based Kalman filters for positioning. - Pesonen, Henri; Piché, Robert (2010)

Positioning with coverage area estimates generated from location fingerprints. - Koski, Laura; Piché, Robert; Kaseva, Ville; Ali-Löytty, Simo; Hännikäinen, Marko (2010)

Matrix-based numerical modelling of financial differential equations. - Piché, Robert; Kanniainen, Juho (Int. J. Math. Model. Numer. Optimisation, 2009)

Fingerprint Kalman Filter in indoor positioning applications. - Ali-Löytty, Simo; Perälä, Tommi; Honkavirta, Ville; Piché, Robert (2009)

Posterior Cramer-Rao lower bound for mobile tracking in mixed LOS/NLOS conditions. - Chen, Liang; Wu, Lenan; Piché, Robert (2009)

A comparative survey of WLAN location fingerprinting methods. - Honkavirta, Ville; Perälä, Tommi; Ali-Löytty, Simo; Piché, Robert (2009)

PNaFF: A modular software platform for testing hybrid position estimation algorithms. - Raitoharju, Matti; Sirola, Niilo; Ali-Löytty, Simo; Piché, Robert (2008)

Recurrence Quantification Analysis of Electrochemical Noise Data during Pit Development. - Montalbán, Luis Santos; Henttu, Päivi; Piché, Robert (Int. J. Bifurc. Chaos, 2007)

Solving financial differential equations using differentiation matrices. - Piché, Robert; Kanniainen, Juho (2007)

Robust Extended Kalman Filtering in Hybrid Positioning Applications. - Perälä, Tommi; Piché, Robert (2007)