Related papers: Velocity-aided Attitude Estimation for Accelerated…
We show that an interferometer moving at a relativistic speed relative to a point source of light offers a sensitive probe of acceleration. Such an accelerometer contains no moving parts, and is thus more robust than conventional…
Consistent motion estimation is fundamental for all mobile autonomous systems. While this sounds like an easy task, often, it is not the case because of changing environmental conditions affecting odometry obtained from vision, Lidar, or…
We propose a method to track the 6D pose of an object over time, while the object is under non-prehensile manipulation by a robot. At any given time during the manipulation of the object, we assume access to the robot joint controls and an…
This paper formulates the pose estimation problem as nonlinear stochastic filter kinematics evolved directly on the Special Euclidean Group SE(3). Proposed filter guarantees that the errors present in position and Rodriguez vector estimates…
This paper proposes a dynamic analytical initialization method for spacecraft attitude estimators. In the proposed method, the desired attitude matrix is decomposed into two parts: one is the constant attitude matrix at the very start and…
Stochastic filters for on-line state estimation are a core technology for autonomous systems. The performance of such filters is one of the key limiting factors to a system's capability. Both asymptotic behavior (e.g.,~for regular…
Employing an inertial measurement unit (IMU) as an additional sensor can dramatically improve both reliability and accuracy of visual/Lidar odometry (VO/LO). Different IMU integration models are introduced using different assumptions on the…
Vision based localization is a popular approach to carry out manoeuvres particularly in GPS-restricted indoor environments, because vision can complement other activities performed by the robot. The objective is to estimate the current…
Vision-based perception systems are typically exposed to large orientation changes in different robot applications. In such conditions, their performance might be compromised due to the inherent complexity of processing data captured under…
Automated estimation of the allocation of a driver's visual attention may be a critical component of future Advanced Driver Assistance Systems. In theory, vision-based tracking of the eye can provide a good estimate of gaze location. In…
Low-cost micro-electromechanical accelerometers are widely used in navigation, robotics, and consumer devices for motion sensing and position estimation. However, their performance is often degraded by bias errors. To eliminate…
The hand-eye measurements have recently been proven to be very efficient for spacecraft attitude determination relative to an ellipsoidal asteroid. However, recent method does not guarantee full attitude observability for all conditions.…
This paper proposes a method to estimate the pose of a sensor mounted on a vehicle as the vehicle moves through the world, an important topic for autonomous driving systems. Based on a set of commonly deployed vehicular odometric sensors,…
In this note, the attitude and inertial sensors drift biases estimation for Strapdown inertial navigation system is investigated. A semi-analytic method is proposed, which contains two interlaced solution procedures. Specifically, the…
We propose globally exponentially convergent continuous observers for invariant kinematic systems on finite-dimensional matrix Lie groups. Such an observer estimates, from measurements of landmarks, vectors and biased velocity, both the…
This paper presents hybrid attitude and gyro-bias observers designed directly on the Special Orthogonal group SO(3). The proposed hybrid observers, enjoying global exponential stability, rely on a hysteresis-based switching between…
Air-bearing platforms for simulating the rotational dynamics of satellites require highly precise ground truth systems. Unfortunately, commercial motion capture systems used for this scope are complex and expensive. This paper shows a novel…
A robust nonlinear stochastic observer for simultaneous localization and mapping (SLAM) is proposed using the available uncertain measurements of angular velocity, translational velocity, and features. The proposed observer is posed on the…
This work presents approaches for the estimation of quantities important for the control of the momentum of a humanoid robot. In contrast to previous approaches which use simplified models such as the Linear Inverted Pendulum Model, we…
The need to accurately estimate the speed of road vehicles is becoming increasingly important for at least two main reasons. First, the number of speed cameras installed worldwide has been growing in recent years, as the introduction and…