Golnoosh Elhami, Michalina Pacholska, Benjamín Béjar Haro and Martin Vetterli.
Traditional sampling results assume that the sample locations are known. Motivated by simultaneous localization and mapping (SLAM) and structure from motion (SfM), we investigate sampling at unknown locations. Without further constraints, the problem is often hopeless. For example, we recently showed that, for polynomial and bandlimited signals, it is possible to find two signals, arbitrarily far from each other, that fit the measurements. However, we also showed that this can be overcome by adding constraints to the sample positions.
In this paper, we show that these constraints lead to a uniform sampling of a composite of functions. Furthermore, the formulation retains the key aspects of the SLAM and SfM problems, whilst providing uniqueness, in many cases.
We demonstrate this by studying two simple examples of constrained sampling at unknown locations. In the first, we consider sampling a periodic bandlimited signal composite with an unknown linear function. We derive the sampling requirements for uniqueness and present an algorithm that recovers both the bandlimited signal and the linear warping. Furthermore, we prove that, when the requirements for uniqueness are not met, the cases of multiple solutions have measure zero.
For our second example, we consider polynomials sampled such that the sampling positions are constrained by a rational function. We previously proved that, if a specific sampling requirement is met, uniqueness is achieved. In addition, we present an alternate minimization scheme for solving the resulting non-convex optimization problem.
Finally, fully reproducible simulation results are provided to support our theoretical analysis.