Related papers: Rigid Body Localization Using Sensor Networks: Pos…
The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…
Navigation and trajectorial estimation of maritime vessels are contingent upon the context of positional accuracy. Even the smallest deviations in the estimation of a given vessel may result in detrimental consequences in terms of economic…
Inertial localisation is an important technique as it enables ego-motion estimation in conditions where external observers are unavailable. However, low-cost inertial sensors are inherently corrupted by bias and noise, which lead to unbound…
Accurate localization in diverse environments is a fundamental challenge in computer vision and robotics. The task involves determining a sensor's precise position and orientation, typically a camera, within a given space. Traditional…
Sleep posture is linked to several health conditions such as nocturnal cramps and more serious musculoskeletal issues. However, in-clinic sleep assessments are often limited to vital signs (e.g. brain waves). Wearable sensors with embedded…
Globally rising demand for transportation by rail is pushing existing infrastructure to its capacity limits, necessitating the development of accurate, robust, and high-frequency positioning systems to ensure safe and efficient train…
This paper focuses on the challenging problem of 3D pose estimation of a diverse spectrum of articulated objects from single depth images. A novel structured prediction approach is considered, where 3D poses are represented as skeletal…
Existing LGL methods typically consider only partial information (e.g., geometric features) from LiDAR observations or are designed for homogeneous LiDAR sensors, overlooking the uniformity in LGL. In this work, a uniform LGL method is…
Stable estimation of rigid body pose and velocities from noisy measurements, without any knowledge of the dynamics model, is treated using the Lagrange-d'Alembert principle from variational mechanics. With body-fixed optical and inertial…
Detecting oriented objects along with estimating their rotation information is one crucial step for analyzing remote sensing images. Despite that many methods proposed recently have achieved remarkable performance, most of them directly…
A misalignment of LiDAR as low as a few degrees could cause a significant error in obstacle detection and mapping that could cause safety and quality issues. In this paper, an accurate inspection system is proposed for estimating a LiDAR…
The pose of a rigid object is usually regarded as a rigid transformation, described by a translation and a rotation. However, equating the pose space with the space of rigid transformations is in general abusive, as it does not account for…
Complex multibody legged robots can have complex rotational control challenges. In this paper, we propose a concise way to understand and formulate a \emph{whole-body orientation} that (i) depends on system configuration only and not a…
This article studies the problem of distributed formation control for multiple robots by using onboard ultra wide band (UWB) distance and inertial odometer (IO) measurements. Although this problem has been widely studied, a fundamental…
Accurate network topology information is critical for secure operation of smart power distribution systems. Line outages can change the operational topology of a distribution network. As a result, topology identification by detecting…
A new method for optimal sensor placement based on variable importance of machine learned models is proposed. With its simplicity, adaptivity, and low computational cost, the method offers many advantages over existing approaches. The new…
The reduced cost and computational and calibration requirements of monocular cameras make them ideal positioning sensors for mobile robots, albeit at the expense of any meaningful depth measurement. Solutions proposed by some scholars to…
This paper considers the problem of nonlinear attitude estimation for a rigid body system using intermittent and multi-rate inertial vector measurements as well as continuous (high-rate) angular velocity measurements. Two types of hybrid…
We propose a novel low-complexity lidar gesture recognition system for mobile robot control robust to gesture variation. Our system uses a modular approach, consisting of a pose estimation module and a gesture classifier. Pose estimates are…
Realtime shape estimation of continuum objects and manipulators is essential for developing accurate planning and control paradigms. The existing methods that create dense point clouds from camera images, and/or use distinguishable markers…