Related papers: Correction to:"Position estimation from direction …

Illuminating a scene with artificial light is a prerequisite for seeing in dark environments. However, nonuniform and dynamic illumination can deteriorate or even break computer vision approaches, for instance when operating a robot with…

Nonlinearity in many systems is heavily dependent on component variation and environmental factors such as temperature. This is often overcome by keeping signals close enough to the device's operating point that it appears approximately…

This paper introduces an advanced Lyapunov stability analysis for an attitude observer that has been developed on the special orthogonal group. In particular, when the attitude observer is constructed based on multiple direction…

In this paper, we take a new approach for time of arrival geo-localization. We show that the main sources of error in metropolitan areas are due to environmental imperfections that bias our solutions, and that we can rely on a probabilistic…

This paper deals with the state estimation of linear time-invariant systems using distributed observers with local sampled-data measurement and aperiodic communication. Each observer agent perceives partial information of the system to be…

Human-centric visual understanding is an important desideratum for effective human-robot interaction. In order to navigate crowded public places, social robots must be able to interpret the activity of the surrounding humans. This paper…

Human pose estimation, particularly in athletes, can help improve their performance. However, this estimation is difficult using existing methods, such as human annotation, if the subjects wear loose-fitting clothes such as ski/snowboard…

We establish a replacement lemma for a variational problem, which is not based on a local argument. We then apply it to a phase transition problem and obtain pointwise estimates.

This paper studies nonlinear observer design for rigid-body extended pose estimation using inertial measurements and generic exteroceptive sensing. The estimation problem is formulated as a cascade architecture that separates translational…

Line features are valid complements for point features in man-made environments. 3D-2D constraints provided by line features have been widely used in Visual Odometry (VO) and Structure-from-Motion (SfM) systems. However, how to accurately…

We propose a new method for human pose estimation which leverages information from multiple views to impose a strong prior on articulated pose. The novelty of the method concerns the types of coherence modelled. Consistency is maximised…

A novel approach to the problem of partial state estimation of nonlinear systems is proposed. The main idea is to translate the state estimation problem into one of estimation of constant, unknown parameters related to the systems initial…

Stable estimation of rigid body pose and velocities from noisy measurements, without any knowledge of the dynamics model, is treated using the Lagrange-d'Alembert principle from variational mechanics. With body-fixed optical and inertial…

The difference between a model forecast and actual observations is called forecast bias. This bias is due to either incomplete model assumptions and/or poorly known parameter values and initial/boundary conditions. In this paper we discuss…

For human pose estimation in videos, it is significant how to use temporal information between frames. In this paper, we propose temporal flow maps for limbs (TML) and a multi-stride method to estimate and track human poses. The proposed…

Human pose estimation - the process of recognizing a human's limb positions and orientations in a video - has many important applications including surveillance, diagnosis of movement disorders, and computer animation. While deep learning…

An adaptive state observer is proposed for a class of overparametrized uncertain linear time-invariant systems without restrictive requirement of their representation in the observer canonical form. It evolves the method of generalized…

The design of a globally convergent position observer for feature points from visual information is a challenging problem, especially for the case with only inertial measurements and without assumptions of uniform observability, which…

Hand-held light field (LF) cameras have unique advantages in computer vision such as 3D scene reconstruction and depth estimation. However, the related applications are limited by the ultra-small baseline, e.g., leading to the extremely low…

The issue of single range based observability analysis and observer design for the kinematics model of a 3D vehicle subject to a constant unknown drift velocity is addressed. The proposed method departs from alternative solutions to the…