Related papers: Velocity-aided Attitude Estimation for Accelerated…
In this paper, we propose a novel framework called rigid body localization for joint position and orientation estimation of a rigid body. We consider a setup in which a few sensors are mounted on a rigid body. The absolute position of the…
We characterize the problem of pose estimation for rigid objects in terms of determining viewpoint to explain coarse pose and keypoint prediction to capture the finer details. We address both these tasks in two different settings - the…
Aligning a robot's trajectory or map to the inertial frame is a critical capability that is often difficult to do accurately even though inertial measurement units (IMUs) can observe absolute roll and pitch with respect to gravity.…
We propose an observer for rotational dynamics subject to directional and gyroscopic measurements, which simultaneously estimates the gyroscopic biases and attitude rates. We show uniform almost global asymptotic and local exponential…
This paper proposes two novel nonlinear attitude filters evolved directly on the Special Orthogonal Group SO(3) able to ensure prescribed measures of transient and steady-state performance. The tracking performance of the normalized…
We introduce a simple yet effective algorithm that uses convolutional neural networks to directly estimate object poses from videos. Our approach leverages the temporal information from a video sequence, and is computationally efficient and…
Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape…
LADARs mounted on mobile platforms produce a wealth of precise range data on the surrounding objects and vehicles. The challenge we address is to infer from these raw LADAR data the location and orientation of nearby vehicles. We propose a…
Creating mobile robots which are able to find and manipulate objects in large environments is an active topic of research. These robots not only need to be capable of searching for specific objects but also to estimate their poses often…
To resolve some unphysical interpretations related to velocity measurements by static observers, we discuss the use of generalized observer sets, give a prescription for defining the speed of test particles relative to those observers and…
The main advantage of an atomic accelerometer when compared to a classical accelerometer is negligible bias drift, allowing for stable long-term measurements, which opens the potential application in navigation. This negligible drift arises…
In motion tracking of connected multi-body systems Inertial Measurement Units (IMUs) are used in a wide variety of applications, since they provide a low-cost easy-to-use method for orientation estimation. However, in indoor environments or…
This paper presents global tracking strategies for the attitude dynamics of a rigid body. It is well known that global attractivity is prohibited for continuous attitude control systems on the special orthogonal group. Such topological…
This work presents two novel solvers for estimating the relative poses among views with known vertical directions. The vertical directions of camera views can be easily obtained using inertial measurement units (IMUs) which have been widely…
Performance measures such as stride length in athletics and the pace of runners can be estimated using different tricks such as measuring the number of steps divided by the running length or helping with markers printed on the track.…
The integration of multi-view imaging and pose estimation represents a significant advance in computer vision applications, offering new possibilities for understanding human movement and interactions. This work presents a new algorithm…
Objective: The effect of camera viewpoint was studied when performing visually obstructed psychomotor targeting tasks. Background: Previous research in laparoscopy and robotic teleoperation found that complex perceptual-motor adaptations…
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…
We propose two novel solvers for estimating the egomotion of a calibrated camera mounted to a moving vehicle from a single affine correspondence via recovering special homographies. For the first class of solvers, the sought plane is…
Stability proof of the controller proposed in the conference paper "Attitude and Angular Velocity Tracking for a Rigid Body using Geometric Methods on the Two-Sphere", DOI: 10.1109/ECC.2015.7331033. This proof must be studied together with…