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Although the performance of 3D human pose and shape estimation methods has improved significantly in recent years, existing approaches typically generate 3D poses defined in camera or human-centered coordinate system. This makes it…
Line scanning cameras, which capture only a single line of pixels, have been increasingly used in ground based mobile or robotic platforms. In applications where it is advantageous to directly georeference the camera data to world…
We present a complete infrastructure-less magneto-inductive (MI) localization system enabling a lightweight UAV to autonomously hover, track, and land with centimeter precision on a mobile quadruped robot acting as a dynamic docking pad.…
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…
The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…
Currently, visual odometry and LIDAR odometry are performing well in pose estimation in some typical environments, but they still cannot recover the localization state at high speed or reduce accumulated drifts. In order to solve these…
Full 3D estimation of human pose from a single image remains a challenging task despite many recent advances. In this paper, we explore the hypothesis that strong prior information about scene geometry can be used to improve pose estimation…
This paper introduces a new approach to 3-D position estimation from acceleration data, i.e., a 3-D motion tracking system having a small size and low-cost magnetic and inertial measurement unit (MIMU) composed by both a digital compass and…
Using different sensors in an autonomous vehicle (AV) can provide multiple constraints to optimize AV location estimation. In this paper, we present a low-cost GPS-assisted LiDAR state estimation system for AVs. Firstly, we utilize LiDAR to…
Reliable obstacle detection and classification in rough and unstructured terrain such as agricultural fields or orchards remains a challenging problem. These environments involve large variations in both geometry and appearance, challenging…
This paper presents a method for pose estimation of off-road vehicles moving over uneven terrain. It determines the contact points between the wheels and the terrain, assuming rigid contacts between an arbitrary number of wheels and ground.…
A robotic system of multiple unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs) has the potential for advancing autonomous object geolocation performance. Much research has focused on algorithmic improvements on individual…
Nowadays, more and more sensors are equipped on robots to increase robustness and autonomous ability. We have seen various sensor suites equipped on different platforms, such as stereo cameras on ground vehicles, a monocular camera with an…
We consider the problem of vision-based pose estimation for autonomous systems. While deep neural networks have been successfully used for vision-based tasks, they inherently lack provable guarantees on the correctness of their output,…
Localization of autonomous unmanned aerial vehicles (UAVs) relies heavily on Global Navigation Satellite Systems (GNSS), which are susceptible to interference. Especially in security applications, robust localization algorithms independent…
In Global Navigation Satellite System (GNSS)-denied environments such as indoor parking structures or dense urban canyons, achieving accurate and robust vehicle positioning remains a significant challenge. This paper proposes a…
Following the success of deep convolutional networks, state-of-the-art methods for 3d human pose estimation have focused on deep end-to-end systems that predict 3d joint locations given raw image pixels. Despite their excellent performance,…
In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…
Over the past few years, the use of camera-equipped robotic platforms for data collection and visually monitoring applications has exponentially grown. Cluttered construction sites with many objects (e.g., bricks, pipes, etc.) on the ground…
Fetal pose estimation in 3D ultrasound (US) involves identifying a set of associated fetal anatomical landmarks. Its primary objective is to provide comprehensive information about the fetus through landmark connections, thus benefiting…