Related papers: Second-Order Extended Kalman Filter for Extended O…
We present a new particle tracking algorithm to accurately resolve large deformation and rotational motion fields, which takes advantage of both local and global particle tracking algorithms. We call this method the ScalE and Rotation…
System identification poses a significant bottleneck to characterizing and controlling complex systems. This challenge is greatest when both the system states and parameters are not directly accessible leading to a dual-estimation problem.…
We address the task of simultaneous part-level reconstruction and motion parameter estimation for articulated objects. Given two sets of multi-view images of an object in two static articulation states, we decouple the movable part from the…
The measure timetable plays a critical role for the accuracy of the estimator. This article deals with the optimization of the schedule of measures for observing a random process in time using a Kalman filter, when the length of the process…
We study the mathematical properties of the Invariant Extended Kalman Filter (IEKF) when iterating on the measurement update step, following the principles of the well-known Iterated Extended Kalman Filter. This iterative variant of the…
In industrial applications, it is common to scan objects on a moving conveyor belt. If slice-wise 2D computed tomography (CT) measurements of the moving object are obtained we call it a sequential scanning geometry. In this case, each slice…
In this paper we present a new approach for marker less human motion capture from conventional camera feeds. The aim of our study is to recover 3D positions of key points of the body that can serve for gait analysis. Our approach is based…
State estimation is crucial for legged robots as it directly affects control performance and locomotion stability. In this paper, we propose an Adaptive Invariant Extended Kalman Filter to improve proprioceptive state estimation for legged…
This manuscript derives locally weighted ensemble Kalman methods from the point of view of ensemble-based function approximation. This is done by using pointwise evaluations to build up a local linear or quadratic approximation of a…
In this paper, we propose a novel object-level mapping system that can simultaneously segment, track, and reconstruct objects in dynamic scenes. It can further predict and complete their full geometries by conditioning on reconstructions…
For robot manipulation, a complete and accurate object shape is desirable. Here, we present a method that combines visual and haptic reconstruction in a closed-loop pipeline. From an initial viewpoint, the object shape is reconstructed…
A shape filter is presented to repair segmentation results obtained in calcium imaging of neurons in vivo. This post-segmentation algorithm can automatically smooth the shapes obtained from a preliminary segmentation, while precluding the…
Accurate estimation and prediction of trajectory is essential for interception of any high speed target. In this paper, an extended Kalman filter is used to estimate the current location of target from its visual information and then…
Object data analysis is concerned with statistical methodology for datasets whose elements reside in an arbitrary, unspecified metric space. In this work we propose the object shape, a novel measure of shape/symmetry for object data. The…
Most tracking-by-detection methods employ a local search window around the predicted object location in the current frame assuming the previous location is accurate, the trajectory is smooth, and the computational capacity permits a search…
Elongated anisotropic Gaussian filters are used for the orientation estimation of fibers. In cases where computed tomography images are noisy, roughly resolved, and of low contrast, they are the method of choice even if being efficient only…
We propose MFT -- Multi-Flow dense Tracker -- a novel method for dense, pixel-level, long-term tracking. The approach exploits optical flows estimated not only between consecutive frames, but also for pairs of frames at logarithmically…
In computer vision, camera pose estimation from correspondences between 3D geometric entities and their projections into the image has been a widely investigated problem. Although most state-of-the-art methods exploit low-level primitives…
This paper explores a pragmatic approach to multiple object tracking where the main focus is to associate objects efficiently for online and realtime applications. To this end, detection quality is identified as a key factor influencing…
Modern smartphones have all the sensing capabilities required for accurate and robust navigation and tracking. In specific environments some data streams may be absent, less reliable, or flat out wrong. In particular, the GNSS signal can…