Small Area Shrinkage Estimation

The need for small area estimates is increasingly felt in both the public and private sectors in order to formulate their strategic plans. It is now widely recognized that direct small area survey estimates are highly unreliable owing to large standard errors and coefficients of variation. The reason behind this is that a survey is usually designed to achieve a specified level of accuracy at a higher level of geography than that of small areas. Lack of additional resources makes it almost imperative to use the same data to produce small area estimates. For example, if a survey is designed to estimate per capita income for a state, the same survey data need to be used to produce similar estimates for counties, subcounties and census divisions within that state. Thus, by necessity, small area estimation needs explicit, or at least implicit, use of models to link these areas. Improved small area estimates are found by "borrowing strength" from similar neighboring areas.Comment: Published in at http://dx.doi.org/10.1214/11-STS374 the Statistical Science (http://www.imstat.org/sts/) by the Institute of Mathematical Statistics (http://www.imstat.org

Efficient 2D-3D Matching for Multi-Camera Visual Localization

Visual localization, i.e., determining the position and orientation of a vehicle with respect to a map, is a key problem in autonomous driving. We present a multicamera visual inertial localization algorithm for large scale environments. To efficiently and effectively match features against a pre-built global 3D map, we propose a prioritized feature matching scheme for multi-camera systems. In contrast to existing works, designed for monocular cameras, we (1) tailor the prioritization function to the multi-camera setup and (2) run feature matching and pose estimation in parallel. This significantly accelerates the matching and pose estimation stages and allows us to dynamically adapt the matching efforts based on the surrounding environment. In addition, we show how pose priors can be integrated into the localization system to increase efficiency and robustness. Finally, we extend our algorithm by fusing the absolute pose estimates with motion estimates from a multi-camera visual inertial odometry pipeline (VIO). This results in a system that provides reliable and drift-less pose estimation. Extensive experiments show that our localization runs fast and robust under varying conditions, and that our extended algorithm enables reliable real-time pose estimation.Comment: 7 pages, 5 figure