All pages
Browse research presentations, articles, interactive demonstrations, study notes, and personal collections. Related demos and notes are listed beneath each topic.
3DGS
An interactive explanation of 3D Gaussian Splatting, from fixed-camera training to visual SLAM and unknown-UE radio multipath optimization.
Advanced State Variable Representations
43 worked slides and seven interactive labs on Lie groups, frame conventions, pose optimization, B-splines, and exact continuous-time Gaussian-process uncertainty.
Belief-Propagation MTT
Belief-propagation multi-target tracking: association weights, factor graphs, message passing, and the connection to PMBM, with three interactive experiments.
Beyond the Gaussian Belief · MEM-KF
28 Bento slides and four interactive numerical labs explaining maximum-entropy moment filtering, polynomial prediction, non-Gaussian updates, and the boundaries of optimization guarantees.
BP vs PMBM — data association, side by side
BP-based Target Handover — GLOBECOM 2025
CIR → channel taps
An interactive communication-basics lab showing how continuous-delay channel paths become discrete complex channel taps, with a field-level inventory of the radio-SLAM experiment data.
Cramér–Rao Bound: Precision Has a Floor
A 23-slide Bento presentation on Fisher information, estimator bias, and localization geometry, with three interactive experiments and a complete companion guide.
Cramér–Rao Bounds for Radio Measurements
40 interactive Bento slides and 6 live experiments explaining radio Cramér–Rao bounds, analog BS/UE beam sweeping, 100 by 32 beams and one pilot symbol per pair, unknown channels, receiver clock bias, AoA, AoD and path gain.
Differentiable ray tracing — from paths to gradients
An interactive explanation of differentiable rendering and ray tracing: four renderer families, Sionna RT path sampling, which parameters Sionna RT can differentiate, visibility discontinuities, and practical limitations.
Diffuse Multipath · Kulmer's Effective-Roughness Model
An interactive reading of Josef Kulmer's effective-roughness model: rough-surface scattering, angle-delay power, stochastic multipath, and far-field approximations.
Factor Graphs & the Sum-Product Algorithm
Interactive slides on Kschischang, Frey and Loeliger (2001): factor graphs, the five-step sum-product example, message calculations, and exact marginals.
Frame registration — from Kabsch to NDT to MMD-Reg
One interactive note on frame registration: the correspondence ladder (Kabsch, RANSAC, ICP, point-to-plane, GICP), the Normal Distributions Transform, and the method families — hard, soft, and correspondence-free — raced on one problem. Ten live demos in your browser.
Gaussian Splatting & GS-SLAM — Interactive Notes
An interactive, single-file explainer: what Gaussian Splatting is, how it trains, and how the same idea becomes SLAM. Drag splats, train a 2-D fitter, drive a robot.
Graph SLAM, iSAM, bundle adjustment & structure from motion — a notebook walkthrough
Graph SLAM step by step, Jupyter-notebook style: odometry, ICP scan matching, pose graphs, loop closure, batch optimization, and incremental smoothing with iSAM and iSAM2 — then bundle adjustment and structure from motion. All numerical cells and figures are reproducible.
Grassmannian Manifold
34 interactive Grassmannian manifold slides with five live experiments, including affine Grassmannian data association from Lusk and How (2022).
Grassmannian Manifold · Geometry & Data Association
A visual graduate-level guide to Grassmannian manifolds, principal angles, geodesics, PCA, and affine Grassmannian data association, with five interactive experiments.
Joint PDF factorization
Derivation note: factorization of the joint pdf for multi-object tracking in four scenarios and a GrBP derivation — point vs extended objects, known vs unknown number of objects, and preclustering followed by group association — ending in the factor graphs used by belief-propagation trackers.
Joint PDF factorization · companion slides
JPDA Lab — Joint Probabilistic Data Association
Explore exact joint association probabilities, missed detections, clutter, and Gaussian moment updates in a two-target JPDA teaching lab, based on Fortmann et al. (1983) and Bar-Shalom et al. (2009).
JPDA — Joint Probabilistic Data Association
A source-grounded introduction to JPDA with an interactive two-target association lab, based on Fortmann et al. (1983) and Bar-Shalom et al. (2009).
JVS-SLAM vs conventional SLAM — an animated walkthrough
An animated, step-by-step comparison of the conventional SLAM pipeline (detect → hard association → optimize) and JVS-SLAM's joint vector-set posterior (hypothesize → optimize → Bayes reweight).
Likelihood & Density
25 slides and three interactive experiments explaining likelihood versus probability density, priors, posteriors, parameter estimation, and sensor fusion.
Message Passing for Multitarget Tracking
Interactive walkthrough of Figure 4 in Meyer et al. (2018): prediction, association messages, new targets, and existence beliefs.
Moments in the Movies
Moments in the Movies — a personal collection of memorable scenes and performances.
Multidensity Fusion
29 Bento slides and six interactive labs on Bayesian density fusion, covariance intersection, arithmetic and geometric pools, Wasserstein barycenters, Bernoulli and Poisson multi-object fusion.
Multitarget Tracking on nuScenes — Bai Liping
RFS tracking on nuScenes: a research presentation, archived validation results, and original visual analyses of occlusion, identity switches, birth rates, and class instability.
One Bound, Two Algorithms: Variational Inference & EM
26 interactive Bento slides on the ELBO, mean-field variational inference, CAVI, exact EM, variational EM, and Bayesian VI, with two live numerical laboratories.
One Filter, Many Derivations
Six viewpoints on Kalman filter derivations: a governing-equation overview, group summaries, reviewed equation sheets, and eight interactive experiments.
One Graph, Many Hypotheses: iSAM, iSAM2 & MH-iSAM2
25 interactive Bento slides on iSAM, iSAM2, and MH-iSAM2, with four live labs: incremental QR, separator-summary reuse, Bayes-tree locality, and hypothesis pruning.
One loop of SLAM — the whole process, step by step
An interactive walkthrough of visual SLAM: a robot drives one loop, tracks with motion-only BA, drifts, closes the loop, and repairs the map with pose graph optimization and global bundle adjustment.
Partition uncertainty in extended-object multi-target tracking
Partition uncertainty in extended-object multi-target tracking | Slides
Picture Collections
Photo and video collections from Gothenburg, Stockholm, Vienna, and Beijing, plus Buildings and curated galleries of John Thomson, Liang Sicheng, Wu Guanzhong, and Fan Ho.
Radar SLAM, one scan at a time
33 Bento slides with seven live radar SLAM experiments: measurements, Doppler, scan registration and loop-closure optimization.
RadarSplat
An interactive RadarSplat lab: build 3D Gaussians, project covariance into radar coordinates, accumulate returns, model beam spread and range leakage, and fit splats to synthetic measurements.
Radio Measurements → Radio Map | Interactive Slides
Interactive radio geometry: delay, arrival and departure angles, virtual anchors, incidence points, and joint pose–map ambiguity.
Rigid Frame Registration
21 Bento slides on rigid point-cloud registration—Kabsch, RANSAC, ICP, NDT, CPD, FilterReg and MMD-Reg—with live RANSAC, ICP and NDT labs.
Scalable Extended-Target Handover in Distributed Integrated Sensing and Communication
Scalable extended-target handover in distributed integrated sensing and communication (ISAC): GrBP diagrams, four handover variants, and interactive examples.
Second-hand Sales
Browse available second-hand moving-sale items in Gothenburg.
See how samplers think
27 Bento slides on Monte Carlo sampling with 7 live labs: Gibbs, Metropolis–Hastings, HMC, slice, rejection, importance sampling and a particle filter checked against an exact Kalman filter.
SLAM — Autonomy Architecture
Snapshot Radio SLAM: Initial Pose and Clock
25 Bento slides and three interactive labs explaining snapshot radio SLAM, initial UE pose and clock estimation, conditional least squares, SVD, orientation search, robust consensus and QAIC.
Splatting SLAM inside GraphSLAM — Interactive Walkthrough
An interactive, step-by-step explanation of how Gaussian Splatting becomes a native measurement factor inside GraphSLAM and iSAM2.
Target Handover
Belief-propagation-based target handover for distributed integrated sensing and communication, published at IEEE GLOBECOM 2025.
The Score Kalman Filter
34 Bento slides and three interactive equation labs on The Score Kalman Filter: score matching, Stein closure, polynomial likelihood updates, Kalman specialization and benchmark limitations.
Variational Inference: Approximation by Optimization
An interactive Bento deck on ELBOs, mean-field inference, coordinate ascent, EM, stochastic gradients, and variational diagnostics.