Distance

This paper introduces 2Fast-2Lamaa, a lidar-inertial state estimation framework for odometry, mapping, and localization. Its first key component is the optimization-based undistortion of lidar scans, which uses continuous IMU preintegration to model the system's pose at every lidar point timestamp. The continuous trajectory over 100-200ms is parameterized only by the initial scan conditions (linear velocity and gravity orientation) and IMU biases, yielding eleven state variables. These are estimated by minimizing point-to-line and point-to-plane distances between lidar-extracted features without relying on previous estimates, resulting in a prior-less motion-distortion correction strategy. Because the method performs local state estimation, it directly provides scan-to-scan odometry. To maintain geometric consistency over longer periods, undistorted scans are used for scan-to-map registration. The map representation employs Gaussian Processes to form a continuous distance field, enabling point-to-surface distance queries anywhere in space. Poses of the undistorted scans are refined by minimizing these distances through non-linear least-squares optimization. For odometry and mapping, the map is built incrementally in real time; for pure localization, existing maps are reused. The incremental map construction also includes mechanisms for removing dynamic objects. We benchmark 2Fast-2Lamaa on over 750km of public and self-collected datasets from both automotive and handheld systems. The framework achieves state-of-the-art performance across diverse and challenging scenarios, reaching odometry and localization errors as low as 0.22% and 0.06 m, respectively. The real-time implementation is publicly available at https://github.com/clegenti/2fast2lamaa.

Providing various machine learning (ML) applications in the real world, concerns about discrimination hidden in ML models are growing, particularly in high-stakes domains. Existing techniques for assessing the discrimination level of ML models include commonly used group and individual fairness measures. However, these two types of fairness measures are usually hard to be compatible, and even two different group fairness measures might be incompatible as well. To address this issue, we investigate and evaluate the discrimination level of classifiers from a manifold perspective and propose a fairness measure named harmonic fairness via manifolds (HFM)'' based on distances between sets. Yet the direct calculation of distances might be too expensive to afford, reducing its practical applicability. Therefore, we devise an approximation algorithm named Approximation of distance between sets (ApproxDist)'' to facilitate accurate estimation of distances, and we further demonstrate its algorithmic effectiveness under certain reasonable assumptions. Empirical results indicate that the proposed fairness measure HFM reflects bias from both individual and group fairness aspects and that the proposed ApproxDist is effective and efficient.

K-Means clustering algorithm is one of the most commonly used clustering algorithms because of its simplicity and efficiency. K-Means clustering algorithm based on Euclidean distance only pays attention to the linear distance between Euclidean distance is an efficient and interpretable similarity measurement, but its effectiveness may deteriorate in sample spaces with anisotropic structures, redundant features, or complex feature interactions. In this paper, we propose a novel distance metric called View distance. Inspired by orthographic projection, the proposed metric projects the sample space onto $n(n-1)/2$ two-dimensional planes and defines the final distance as the sum of the Euclidean distances across the projected planes. Theoretical derivations verify that the View distance strictly satisfies the metric axioms and norm constraints. Beyond that, the View distance achieves feature coupling through projection and not only enables constant features to indirectly participate in distance calculation, but also suppresses interference from redundant features while exhibiting anisotropic geometric properties. Furthermore, to address the high computational complexity and poor scalability of full-projection View distance, we propose a two-dimensional projection plane selection strategy based on iterative Maximum Weight Matching, which reduces the computational complexity of distance calculation from $\mathcal{O}(n^2)$ to $\mathcal{O}(k)$. Extensive experiments on 12 diverse datasets demonstrate that View distance and the deterministic selection strategy provide competitive or superior performance compared with Euclidean distance and other $L_{p}$ metrics while maintaining strong interpretability and computational efficiency. The View distance provides a new perspective and option for similarity measurements.