Related papers: Rigid Body Motion Estimation based on the Lagrange…
Accurate 6-DoF object pose estimation and tracking are critical for reliable robotic manipulation. However, zero-shot methods often fail under viewpoint-induced ambiguities and fixed-camera setups struggle when objects move or become…
Motivated by the need to predict dangerous scenarios, this article introduces a non-linear dynamic model for motorcycles consisting of four rigid bodies. Using Jourdain's principle, the model incorporates both longitudinal and lateral…
Significant advancements made in reconstructing hands from images have delivered accurate single-frame estimates, yet they often lack physics consistency and provide no notion of how confidently the motion satisfies physics. In this paper,…
Human pose and shape estimation from RGB images is a highly sought after alternative to marker-based motion capture, which is laborious, requires expensive equipment, and constrains capture to laboratory environments. Monocular vision-based…
New, gauge-independent, second-order Lagrangian for the motion of classical, charged test particles is proposed. It differs from the standard, gauge-dependent, first order Lagrangian by boundary terms only. A new method of deriving…
This paper proposes an innovative state estimation method for visual-inertial fusion based on Chebyshev polynomial optimization. Specifically, the pose is modeled as a Chebyshev polynomial of a certain order, and its time derivatives are…
We address the problem to infer physical material parameters and boundary conditions from the observed motion of a homogeneous deformable object via the solution of an inverse problem. Parameters are estimated from potentially unreliable…
There are many different formulations of relativistic elasticity. Most of them are only concerned with formal questions rather than questions regarding the PDE point of view. The aim of this thesis is to obtain various local existence…
In this paper, we prove that D'Alembert-Lagrange principle for point masses using Lagrange-Mach's mechanical construction yields a weighted balancing condition of unit vectors in $\mathbb{E}^{3}.$
We study in this paper new developments of the Lagrange-Galerkin method for the advection equation. In the first part of the article we present a new improved error estimate of the conventional Lagrange-Galerkin method. In the second part,…
The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during mo-tions between the prespecified test postures. It employs a low-cost measuring system…
The numerical analysis of variational integrators relies on variational error analysis, which relates the order of accuracy of a variational integrator with the order of approximation of the exact discrete Lagrangian by a computable…
Most physical systems are modelled by an ordinary or a partial differential equation, like the n-body problem in celestial mechanics. In some cases, for example when studying the long term behaviour of the solar system or for complex…
Room impulse response estimation is essential for tasks like speech dereverberation, which improves automatic speech recognition. Most existing methods rely on either statistical signal processing or deep neural networks designed to…
Object pose estimation is an integral part of robot vision and AR. Previous 6D pose retrieval pipelines treat the problem either as a regression task or discretize the pose space to classify. We change this paradigm and reformulate the…
There are several attitude estimation algorithms in existence, all of which use local coordinate representations for the group of rigid body orientations. All local coordinate representations of the group of orientations have associated…
Real-time object pose estimation and tracking is challenging but essential for emerging augmented reality (AR) applications. In general, state-of-the-art methods address this problem using deep neural networks which indeed yield…
Estimating camera intrinsics and extrinsics is a fundamental problem in computer vision, and while advances in structure-from-motion (SfM) have improved accuracy and robustness, open challenges remain. In this paper, we introduce a robust…
Within the framework of Lagrangian mechanics, the conservativeness of the hydrostatic forces acting on a floating rigid body is proved. The representation of the associated hydrostatic potential is explicitly worked out. The invariance of…
A least action principle for damping motion has been previously proposed with a Hamiltonian and a Lagrangian containing the energy dissipated by friction. Due to the space-time nonlocality of the Lagrangian, mathematical uncertainties…