Related papers: Inertial-sensor bias estimation from brightness/de…
In this paper, we use known camera motion associated to a video sequence of a static scene in order to estimate and incrementally refine the surrounding depth field. We exploit the SO(3)-invariance of brightness and depth fields dynamics to…
Nonlinear friction has long been, and continues to be, one of the major challenges for precision motion control systems. A linear asymptotic observer of the motion state variables with nonlinear friction uses a dedicated state-space…
We analyze the observability of motion estimates from the fusion of visual and inertial sensors. Because the model contains unknown parameters, such as sensor biases, the problem is usually cast as a mixed identification/filtering, and the…
The design of a globally convergent position observer for feature points from visual information is a challenging problem, especially for the case with only inertial measurements and without assumptions of uniform observability, which…
This paper introduces an advanced Lyapunov stability analysis for an attitude observer that has been developed on the special orthogonal group. In particular, when the attitude observer is constructed based on multiple direction…
This paper deals with the simultaneous estimation of the attitude, position and linear velocity for vision-aided inertial navigation systems. We propose a nonlinear observer on $SO(3)\times \mathbb{R}^{15}$ relying on body-frame…
We study the convergence of a discrete Luenberger observer for the barotropic Euler equations in one dimension, for measurements of the velocity only. We use a mixed finite element method in space and implicit Euler integration in time. We…
This paper tackles the problem of estimating the relative position, orientation, and velocity between a UAV and a planar platform undergoing arbitrary 3D motion during approach and landing. The estimation relies on measurements from…
This work addresses the problem of designing an equivariant observer for a first order dynamical system on the unit-sphere. Building upon the established case of unit bearing vector dynamics with angular velocity inputs, we introduce an…
The paper is devoted to the observability study of a dynamic system, which describes the vibrations of an elastic beam with an attached rigid body and distributed control actions. The mathematical model is derived using Hamilton's principle…
This paper addresses the problem of estimating the position of an object moving in $R^n$ from direction and velocity measurements. After addressing observability issues associated with this problem, a nonlinear observer is designed so as to…
We describe a system to detect objects in three-dimensional space using video and inertial sensors (accelerometer and gyrometer), ubiquitous in modern mobile platforms from phones to drones. Inertials afford the ability to impose…
This paper discusses stability and robustness properties of a recently proposed observer algorithm for linear time varying systems. The observer is based on the approximation and subsequent modification of the non-negative Lyapunov…
Visual odometry and Simultaneous Localization And Mapping (SLAM) has been studied as one of the most important tasks in the areas of computer vision and robotics, to contribute to autonomous navigation and augmented reality systems. In case…
This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement Unit (IMU) providing body-frame measurements of the angular…
In this paper we consider estimating the system parameters and designing stable observer for unknown noisy linear time-invariant (LTI) systems. We propose a Support Vector Regression (SVR) based estimator to provide adjustable asymmetric…
In this paper, we investigate the visual tracking problem for robotic systems without image-space velocity measurement, simultaneously taking into account the uncertainties of the camera model and the manipulator kinematics and dynamics. We…
We present a method for 3D sub-nanometer displacement measurement using a set of differential optical shadow sensor. It is based on using pairs of collimated beams on opposite sides of an object that are partially blocked by it. Applied to…
This article proposes a visual inertial navigation algorithm intended to diminish the horizontal position drift experienced by autonomous fixed wing UAVs (Unmanned Air Vehicles) in the absence of GNSS (Global Navigation Satellite System)…
A fundamental challenge in robust visual-inertial odometry (VIO) is to dynamically assess the reliability of sensor measurements. This assessment is crucial for properly weighting the contribution of each measurement to the state estimate.…