Related papers: Attitude Quaternion Estimation Using a Spectral Pe…
This paper presents a novel end-to-end deep learning framework for real-time inertial attitude estimation using 6DoF IMU measurements. Inertial Measurement Units are widely used in various applications, including engineering and medical…
This paper revisits the topic of rotation estimation through the lens of special unitary matrices. We begin by reformulating Wahba's problem using $SU(2)$ to derive multiple solutions that yield linear constraints on corresponding…
The ability to accurately determine the rotation rate and spin axis of active satellites during deployment, during phases of uncertain operations (e.g. loss of control, potential fuel leaks) and particularly for defunct satellites to assess…
Knowledge of how a body is oriented relative to the world is frequently invaluable information in the field of robotics. An attitude estimator that fuses 3-axis gyroscope, accelerometer and magnetometer data into a quaternion orientation…
A novel framework for a unifying treatment of quaternion valued adaptive filtering algorithms is introduced. This is achieved based on a rigorous account of quaternion differentiability, the proposed I-gradient, and the use of augmented…
The choice of molecular orbitals is decisive in configuration interaction calculations. In this letter, a democratic description of the ground and excited states follows an orthogonally constrained orbitals optimization to produce…
We introduce an efficient combination of polyhedral analysis and predicate partitioning. Template polyhedral analysis abstracts numerical variables inside a program by one polyhedron per control location, with a priori fixed directions for…
In this paper, we explore an efficient online algorithm for quantum state estimation based on a matrix-exponentiated gradient method previously used in the context of machine learning. The state update is governed by a learning rate that…
Accurate estimates of rotation are crucial to vision-based motion estimation in augmented reality and robotics. In this work, we present a method to extract probabilistic estimates of rotation from deep regression models. First, we build on…
One of the most powerful methods of color image recognition is the two-dimensional principle component analysis (2DQPCA) approach, which is based on quaternion representation and preserves color information very well. However, the current…
Vision-based 3D human motion capture from videos remains a challenge in computer vision. Traditional 3D pose estimation approaches often ignore the temporal consistency between frames, causing implausible and jittery motion. The emerging…
The attitude stabilization of a micro-satellite employing a variable-amplitude cold gas thruster which reflects as a time varying gain on the control input is considered. Existing literature uses a persistence filter based approach that…
In this paper, a distributed dual-quaternion multiplicative extended Kalman filter for the estimation of poses and velocities of individual satellites in a fleet of spacecraft is analyzed. The proposed algorithm uses both absolute and…
Despite extensive research on sliding mode control (SMC) design for quadrotors, the existing approaches suffer from certain limitations. Euler angle-based SMC formulations suffer from poor performance in high-pitch or -roll maneuvers.…
The topological obstructions on the attitude space of a rigid body make global asymptotic stabilization impossible using continuous state-feedback. This paper presents novel algorithms to overcome such topological limitations and achieve…
Attitude determination is a popular application of Global Navigation Satellite Systems (GNSS). Many methods have been developed to solve the attitude determination problem with different performance offerings. We develop a constrained…
Multi-object state estimation is a fundamental problem for robotic applications where a robot must interact with other moving objects. Typically, other objects' relevant state features are not directly observable, and must instead be…
Quantum algorithms for diverse problems, including search and optimization problems, require the implementation of a reflection operator over a target state. Commonly, such reflections are approximately implemented using phase estimation.…
In this note, the attitude and inertial sensors drift biases estimation for Strapdown inertial navigation system is investigated. A semi-analytic method is proposed, which contains two interlaced solution procedures. Specifically, the…
Facial expression has a significant role in analyzing human cognitive state. Deriving an accurate facial appearance representation is a critical task for an automatic facial expression recognition application. This paper provides a new…