{"id":"https://openalex.org/W7123339041","doi":"https://doi.org/10.1109/lra.2026.3653370","title":"Gaussian Variational Inference With Non-Gaussian Factors for State Estimation: A UWB Localization Case Study","display_name":"Gaussian Variational Inference With Non-Gaussian Factors for State Estimation: A UWB Localization Case Study","publication_year":2026,"publication_date":"2026-01-12","ids":{"openalex":"https://openalex.org/W7123339041","doi":"https://doi.org/10.1109/lra.2026.3653370"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2026.3653370","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3653370","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2512.19855","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5105015801","display_name":"Andrew Stirling","orcid":null},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Andrew Stirling","raw_affiliation_strings":["Department of Mechanical Engineering, McGill University, Montreal, QC, Canada"],"raw_orcid":"https://orcid.org/0009-0000-8166-3372","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, McGill University, Montreal, QC, Canada","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007162821","display_name":"Mykola Lukashchuk","orcid":"https://orcid.org/0009-0003-3011-0825"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Mykola Lukashchuk","raw_affiliation_strings":["Department of Electrical Engineering, TU Eindhoven, Eindhoven, The Netherlands"],"raw_orcid":"https://orcid.org/0009-0003-3011-0825","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, TU Eindhoven, Eindhoven, The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080299484","display_name":"Dmitry Bagaev","orcid":"https://orcid.org/0000-0001-9655-7986"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Dmitry Bagaev","raw_affiliation_strings":["Department of Electrical Engineering, TU Eindhoven, Eindhoven, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0001-9655-7986","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, TU Eindhoven, Eindhoven, The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015804681","display_name":"Wouter M. Kouw","orcid":"https://orcid.org/0000-0002-0547-4817"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Wouter Kouw","raw_affiliation_strings":["Department of Electrical Engineering, TU Eindhoven, Eindhoven, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-0547-4817","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, TU Eindhoven, Eindhoven, The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023450612","display_name":"James Richard Forbes","orcid":"https://orcid.org/0000-0002-1987-9268"},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"James R. Forbes","raw_affiliation_strings":["Department of Mechanical Engineering, McGill University, Montreal, QC, Canada"],"raw_orcid":"https://orcid.org/0000-0002-1987-9268","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, McGill University, Montreal, QC, Canada","institution_ids":["https://openalex.org/I5023651"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5105015801"],"corresponding_institution_ids":["https://openalex.org/I5023651"],"apc_list":null,"apc_paid":null,"fwci":13.0029,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.95568895,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"11","issue":"3","first_page":"2762","last_page":"2769"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9054999947547913,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9054999947547913,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11739","display_name":"Microwave Imaging and Scattering Analysis","score":0.02410000003874302,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12024","display_name":"Ultra-Wideband Communications Technology","score":0.018400000408291817,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.5835999846458435},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5809000134468079},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5371999740600586},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.45579999685287476},{"id":"https://openalex.org/keywords/additive-white-gaussian-noise","display_name":"Additive white Gaussian noise","score":0.4296000003814697},{"id":"https://openalex.org/keywords/compressed-sensing","display_name":"Compressed sensing","score":0.4205999970436096},{"id":"https://openalex.org/keywords/gaussian-noise","display_name":"Gaussian noise","score":0.4187000095844269},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.4081000089645386},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.39980000257492065}],"concepts":[{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.5835999846458435},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5809000134468079},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5774999856948853},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5371999740600586},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5239999890327454},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.45579999685287476},{"id":"https://openalex.org/C169334058","wikidata":"https://www.wikidata.org/wiki/Q353292","display_name":"Additive white Gaussian noise","level":3,"score":0.4296000003814697},{"id":"https://openalex.org/C124851039","wikidata":"https://www.wikidata.org/wiki/Q2665459","display_name":"Compressed sensing","level":2,"score":0.4205999970436096},{"id":"https://openalex.org/C4199805","wikidata":"https://www.wikidata.org/wiki/Q2725903","display_name":"Gaussian noise","level":2,"score":0.4187000095844269},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.4081000089645386},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.39980000257492065},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3822999894618988},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3560999929904938},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.3513999879360199},{"id":"https://openalex.org/C161218011","wikidata":"https://www.wikidata.org/wiki/Q11827794","display_name":"Multipath propagation","level":3,"score":0.3440999984741211},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.34360000491142273},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.33719998598098755},{"id":"https://openalex.org/C29265498","wikidata":"https://www.wikidata.org/wiki/Q7047719","display_name":"Noise measurement","level":3,"score":0.33570000529289246},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.314300000667572},{"id":"https://openalex.org/C134261354","wikidata":"https://www.wikidata.org/wiki/Q938438","display_name":"Statistical inference","level":2,"score":0.30570000410079956},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2761000096797943},{"id":"https://openalex.org/C49781872","wikidata":"https://www.wikidata.org/wiki/Q1045555","display_name":"Maximum likelihood","level":2,"score":0.27129998803138733},{"id":"https://openalex.org/C56372850","wikidata":"https://www.wikidata.org/wiki/Q1050404","display_name":"Sparse matrix","level":3,"score":0.26660001277923584},{"id":"https://openalex.org/C104267543","wikidata":"https://www.wikidata.org/wiki/Q208163","display_name":"Signal processing","level":3,"score":0.2603999972343445},{"id":"https://openalex.org/C124066611","wikidata":"https://www.wikidata.org/wiki/Q28684319","display_name":"Sparse approximation","level":2,"score":0.25119999051094055}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2026.3653370","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3653370","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:pure.tue.nl:openaire_cris_publications/62287dca-3cb4-4a13-8681-06f55d88d10d","is_oa":false,"landing_page_url":"https://research.tue.nl/en/publications/62287dca-3cb4-4a13-8681-06f55d88d10d","pdf_url":null,"source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Stirling, A, Lukashchuk, M, Bagaev, D, Kouw, W M & Forbes, J 2026, 'Gaussian Variational Inference with Non-Gaussian Factors for State Estimation : A UWB Localization Case Study', IEEE Robotics and Automation Letters, vol. 11, no. 3, 11347486, pp. 2762-2769. https://doi.org/10.1109/LRA.2026.3653370","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:arXiv.org:2512.19855","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2512.19855","pdf_url":"https://arxiv.org/pdf/2512.19855","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2512.19855","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2512.19855","pdf_url":"https://arxiv.org/pdf/2512.19855","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"letter":[1],"extends":[2],"the":[3,29,38,75],"exactly":[4],"sparse":[5,81],"Gaussian":[6],"variational":[7],"inference":[8],"(ESGVI)":[9],"algorithm":[10],"for":[11],"state":[12],"estimation":[13,30,113],"in":[14,56,90],"two":[15],"complementary":[16],"directions.":[17],"First,":[18],"ESGVI":[19,76],"is":[20,88,115],"generalized":[21],"to":[22,46,61,71,118],"operate":[23],"on":[24],"matrix":[25],"Lie":[26],"groups,":[27],"enabling":[28],"of":[31],"states":[32],"with":[33,95],"orientation":[34],"components":[35],"while":[36,78],"respecting":[37],"underlying":[39],"group":[40],"structure.":[41,84],"Second,":[42],"factors":[43],"are":[44,69],"introduced":[45],"accommodate":[47],"heavy-tailed":[48],"and":[49,64,82,101],"skewed":[50],"noise":[51],"distributions,":[52],"as":[53],"commonly":[54],"encountered":[55],"ultra-wideband":[57],"(UWB)":[58],"localization":[59,93],"due":[60],"non-line-of-sight":[62],"(NLOS)":[63],"multipath":[65],"effects.":[66],"Both":[67],"extensions":[68],"shown":[70],"integrate":[72],"naturally":[73],"within":[74,110],"framework":[77,114],"preserving":[79],"its":[80],"derivative-free":[83],"The":[85],"proposed":[86],"approach":[87],"validated":[89],"a":[91,105,111],"UWB":[92],"experiment":[94],"NLOS-rich":[96],"measurements,":[97],"demonstrating":[98],"improved":[99],"accuracy":[100],"comparable":[102],"consistency.":[103],"Finally,":[104],"<sc":[106],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[107],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Python</small>":[108],"implementation":[109],"factor-graph-based":[112],"made":[116],"open-source":[117],"support":[119],"broader":[120],"research":[121],"use.":[122]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-01-29T23:13:10.619473","created_date":"2026-01-14T00:00:00"}