Related papers: Analytic solutions to two quaternion attitude esti…
Attitude estimation methods typically rely on full vector measurements from inertial sensors such as accelerometers and magnetometers. This paper shows that reliable estimation can also be achieved using only scalar measurements, which…
Dual quaternions and dual quaternion matrices have garnered widespread applications in robotic research, and its spectral theory has been extensively studied in recent years. This paper introduces the novel concept of the dual complex…
The rigid-body attitude tracking using vector and biased gyro measurements with unknown inertia matrix is studied in this note. First, a gyro-bias observer with global exponential stability is designed. Then, an attitude tracking controller…
An effective two-stage method for an estimation of parameters of the linear regression is considered. For this purpose we introduce a certain quasi-estimator that, in contrast to usual estimator, produces two alternative estimates. It is…
We present an algorithmic contribution to improve the efficiency of robust trim-fitting in outlier affected geometric regression problems. The method heavily relies on the quick sort algorithm, and we present two important insights. First,…
The numerical approximation of convection-dominated problems continues to remain subject of strong interest. Families of stabilization techniques for finite element methods were developed in the past. Adaptive techniques based on a…
The problems of optimally estimating a phase, a direction, and the orientation of a Cartesian frame (or trihedron) with general pure states are addressed. Special emphasis is put on estimation schemes that allow for inconclusive answers or…
In this paper, we present a novel algorithm to extract a quaternion from a two dimensional camera frame for estimating a contained human skeletal pose. The problem of pose estimation is usually tackled through the usage of stereo cameras…
We propose a least-squares formulation to the noisy hand-eye calibration problem using dual-quaternions, and introduce efficient algorithms to find the exact optimal solution, based on analytic properties of the problem, avoiding non-linear…
In this paper we consider the localization problem for a visual sensor network. Inspired by the alternate attitude and position distributed optimization framework discussed in [1], we propose an estimation scheme that exploits the unit dual…
Recently, Zhuang, Roth, \& Sudhakar [1] proposed a method that allows simultaneous computation of the rigid transformations from world frame to robot base frame and from hand frame to camera frame. Their method attempts to solve a…
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…
The control task of tracking a reference pointing direction (the attitude about the pointing direction is irrelevant) while obtaining a desired angular velocity (PDAV) around the pointing direction using geometric techniques is addressed…
This paper focuses on a stochastic formulation of Bayesian attitude estimation on the special orthogonal group. In particular, an exponential probability density model for random matrices, referred to as the matrix Fisher distribution is…
In this work, we present an approach for monocular hand-eye calibration from per-sensor ego-motion based on dual quaternions. Due to non-metrically scaled translations of monocular odometry, a scaling factor has to be estimated in addition…
Objects' rigid motions in 3D space are described by rotations and translations of a highly-correlated set of points, each with associated $x,y,z$ coordinates that real-valued networks consider as separate entities, losing information.…
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…
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…
We address the problem of attitude stabilization of a rigid body, in which neither the angular velocity nor the instantaneous measurements of the attitude are used in the feedback, only body vector measurements are needed. The design of the…
The miniaturization of inertial measurement units (IMUs) facilitates their widespread use in a growing number of application domains. Orientation estimation is a prerequisite for most further data processing steps in inertial motion…