Related papers: Rigid Body Pose Estimation based on the Lagrange-d…
Cascaded regression method is a fast and accurate method on finding 2D pose of objects in RGB images. It is able to find the accurate pose of objects in an image by a great number of corrections on the good initial guess of the pose of…
This paper studies a rigid body attitude tracking control problem with attitude measurements only, when angular velocity measurements are not available. An angular velocity observer is constructed such that the estimated angular velocity is…
We develop the equations of motion for full body models that describe the dynamics of rigid bodies, acting under their mutual gravity. The equations are derived using a variational approach where variations are defined on the Lie group of…
We study the application of the Augmented Lagrangian Method to the solution of linear ill-posed problems. Previously, linear convergence rates with respect to the Bregman distance have been derived under the classical assumption of a…
The Lagrange-mesh method is an approximate variational approach having the form of a mesh calculation because of the use of a Gauss quadrature. Although this method provides accurate results in many problems with small number of mesh…
The vortex-induced vibration of multiple spring-mounted bodies free to move in the orthogonal direction of the flow is investigated. In a first step, we derive a Linear Arbitrary Lagrangian Eulerian (L-ALE) method to solve the…
This article investigates the modeling and control of Lagrangian systems involving non-conservative forces using a hybrid method that does not require acceleration calculations. It focuses in particular on the derivation and identification…
Traditional visual-inertial state estimation targets absolute camera poses and spatial landmark locations while first-order kinematics are typically resolved as an implicitly estimated sub-state. However, this poses a risk in velocity-based…
This paper addresses the problem of estimating the attitude of a rigid body, which is subject to high accelerations and equipped with inertial measurement unit (IMU) and sensors providing the body velocity (expressed in the reference frame…
In this paper, we propose a global method for estimating the motion of a camera which films a static scene. Our approach is direct, fast and robust, and deals with adjacent frames of a sequence. It is based on a quadratic approximation of…
We propose a novel message-passing solution to the sixth-dimensional (6D) moving rigid body localization (RBL) problem, in which the three-dimensional (3D) translation vector and rotation angles, as well as their corresponding translational…
Systems for estimating the six-degrees-of-freedom human body pose have been improving for over two decades. Technologies such as motion capture cameras, advanced gaming peripherals and more recently both deep learning techniques and virtual…
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 develop the theory of discrete time Lagrangian mechanics on Lie groups, originated in the work of Veselov and Moser, and the theory of Lagrangian reduction in the discrete time setting. The results thus obtained are applied to the…
The aim of this paper is to show that the Lagrange-d'Alembert and its equivalent the Gauss and Appel principle are not the only way to deduce the equations of motion of the nonholonomic systems. Instead of them, here we consider the…
This paper presents a simple algebraic method to estimate the pose of a camera relative to a planar target from $n \geq 4$ reference points with known coordinates in the target frame and their corresponding bearing measurements in the…
In this paper, the optimal strong error estimates for stochastic parabolic optimal control problem with additive noise and integral state constraint are derived based on time-implicit and finite element discretization. The continuous and…
The goal of this paper is to develop energy-preserving variational integrators for time-dependent mechanical systems with forcing. We first present the Lagrange-d'Alembert principle in the extended Lagrangian mechanics framework and derive…
Dense pose estimation is a dense 3D prediction task for instance-level human analysis, aiming to map human pixels from an RGB image to a 3D surface of the human body. Due to a large amount of surface point regression, the training process…
This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…