Related papers: FLC tuned with Gravitational Search Algorithm for …
Estimating the 6D pose of objects unseen during training is highly desirable yet challenging. Zero-shot object 6D pose estimation methods address this challenge by leveraging additional task-specific supervision provided by large-scale,…
Recent trends in SLAM and visual navigation have embraced 3D Gaussians as the preferred scene representation, highlighting the importance of estimating camera poses from a single image using a pre-built Gaussian model. However, existing…
The paper focuses on the calibration of serial industrial robots using partial pose measurements. In contrast to other works, the developed advanced robot calibration technique is suitable for geometrical and elastostatic calibration. The…
A novel probabilistic approach for the design of mechanical structures with friction interfaces is proposed. The objective function is defined as the probability that a specified performance measure of the forced vibration response is…
This paper presents a dual quaternion framework for 6-DOF visual target tracking that addresses key limitations of perspective-n-point (P$n$P) solvers: sensitivity to noise and outliers, and inability to propagate estimates through…
This work presents a new recursive robust filtering approach for feature-based 3D registration. Unlike the common state-of-the-art alignment algorithms, the proposed method has four advantages that have not yet occurred altogether in any…
Imitation learning is promising for robotic manipulation, but \emph{precise insertion} in the real world remains difficult due to contact-rich dynamics, tight clearances, and limited demonstrations. Many existing visuomotor policies depend…
Visual localization, i.e., determining the position and orientation of a vehicle with respect to a map, is a key problem in autonomous driving. We present a multicamera visual inertial localization algorithm for large scale environments. To…
Lagrangian Particle Tracking (LPT) enables practitioners to study various concepts in turbulence by measuring particle positions in flows of interest. This data is subject to measurement errors, and filtering techniques are applied to…
In this letter, a new filtering technique to solve a nonlinear state estimation problem has been developed. It is well known that for a nonlinear system, the prior and posterior probability density functions (pdf) are non-Gaussian in…
When signals are measured through physical sensors, they are perturbed by noise. To reduce noise, low-pass filters are commonly employed in order to attenuate high frequency components in the incoming signal, regardless if they come from…
Accurate and robust extrinsic calibration is necessary for deploying autonomous systems which need multiple sensors for perception. In this paper, we present a robust system for real-time extrinsic calibration of multiple lidars in vehicle…
In recent years, face recognition systems have achieved exceptional success due to promising advances in deep learning architectures. However, they still fail to achieve expected accuracy when matching profile images against a gallery of…
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…
Backtracking line search is foundational in numerical optimization. The basic idea is to adjust the step-size of an algorithm by a constant factor until some chosen criterion (e.g. Armijo, Descent Lemma) is satisfied. We propose a novel way…
In this paper, a time-varying leader-follower formation control of nonholonomic mobile robots based on a trajectory tracking control strategy is considered. In the time-varying formation, the relative bearing and distance of each follower…
Inertial-sensor-based attitude estimation is a crucial technology in various applications, from human motion tracking to autonomous aerial and ground vehicles. Application scenarios differ in characteristics of the performed motion,…
Geometric matching is a key step in computer vision tasks. Previous learning-based methods for geometric matching concentrate more on improving alignment quality, while we argue the importance of naturalness issue simultaneously. To deal…
Fourier ptychography is a new computational microscopy technique that provides gigapixel-scale intensity and phase images with both wide field-of-view and high resolution. By capturing a stack of low-resolution images under different…
Accurately estimating camera motion from image sequences poses a significant challenge in computer vision and robotics. Many computer vision methods first compute the essential matrix associated with a motion and then extract orientation…