Related papers: A Scalable and Distributed Solution to the Inertia…
This paper is concerned with the problem of distributed extended object tracking, which aims to collaboratively estimate the state and extension of an object by a network of nodes. In traditional tracking applications, most approaches…
Inertial-based navigation refers to the navigation methods or systems that have inertial information or sensors as the core part and integrate a spectrum of other kinds of sensors for enhanced performance. Through a series of papers, the…
Achieving ultimate bounds in estimation processes is the main objective of quantum metrology. In this context, several problems require measurement of multiple parameters by employing only a limited amount of resources. To this end,…
Lossless compression of dynamic 2D+t and 3D+t medical data is challenging regarding the huge amount of data, the characteristics of the inherent noise, and the high bit depth. Beyond that, a scalable representation is often required in…
Inertial navigation computation is to acquire the attitude, velocity and position information of a moving body by integrating inertial measurements from gyroscopes and accelerometers. Over half a century has witnessed great efforts in…
Many-legged elongated robots show promise for reliable mobility on rugged landscapes. However, most studies on these systems focus on planar motion planning without addressing rapid vertical motion. Despite their success on mild rugged…
In this study, we investigate the problem of tracking objects with unknown shapes using three-dimensional (3D) point cloud data. We propose a Gaussian process-based model to jointly estimate object kinematics, including position,…
This paper discusses the adaptive sampling problem in a nonholonomic mobile robotic sensor network for efficiently monitoring a spatial field. It is proposed to employ Gaussian process to model a spatial phenomenon and predict it at…
3D models of manufactured objects are important for populating virtual worlds and for synthetic data generation for vision and robotics. To be most useful, such objects should be articulated: their parts should move when interacted with.…
This paper proposes a novel inertial-aided localization approach by fusing information from multiple inertial measurement units (IMUs) and exteroceptive sensors. IMU is a low-cost motion sensor which provides measurements on angular…
The ability to detect and segment moving objects in a scene is essential for building consistent maps, making future state predictions, avoiding collisions, and planning. In this paper, we address the problem of moving object segmentation…
Roadside perception is a key component in intelligent transportation systems. In this paper, we present a novel three-dimensional (3D) extended object tracking (EOT) method, which simultaneously estimates the object kinematics and extent…
Dynamic Magnetic Resonance Imaging (MRI) is a crucial non-invasive method used to capture the movement of internal organs and tissues, making it a key tool for medical diagnosis. However, dynamic MRI faces a major challenge: long…
This paper addresses the challenges of distributed formation control in multiple mobile robots, introducing a novel approach that enhances real-world practicability. We first introduce a distributed estimator using a variable structure and…
Robotic grasping of arbitrary objects even in completely known environments still remains a challenging problem. Most previously developed algorithms had focused on fingertip grasp, failing to solve the problem even for fully actuated…
The problem of rapid optimal coverage through the distribution a team of robots or static sensors via means of aerial drop is the topic of this work. Considering a nonholonomic (fixed-wing) aerial robot that corresponds to the carrier of a…
Optimal mass transport, also known as the earth mover's problem, is an optimization problem with important applications in various disciplines, including economics, probability theory, fluid dynamics, cosmology and geophysics to cite a few.…
Feature tracking is a fundamental problem in computer vision, with applications in many computer vision tasks, such as visual SLAM and action recognition. This paper introduces a novel multi-body feature tracker that exploits a multi-body…
Recent work in the construction of 3D scene graphs has enabled mobile robots to build large-scale metric-semantic hierarchical representations of the world. These detailed models contain information that is useful for planning, however an…
To operate safely and efficiently alongside human workers, collaborative robots (cobots) require the ability to quickly understand the dynamics of manipulated objects. However, traditional methods for estimating the full set of inertial…