Related papers: Neural-adaptive Stochastic Attitude Filter on SO(3…
A geometric nonlinear observer algorithm for Simultaneous Localization and Mapping (SLAM) developed on the Lie group of \mathbb{SLAM}_{n}\left(3\right) is proposed. The presented novel solution estimates the vehicle's pose (i.e. attitude…
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…
This paper is concerned with the problem of continuous-time nonlinear filtering for stochastic processes on a compact and connected matrix Lie group without boundary, e.g. SO(n) and SE(n), in the presence of real-valued observations. This…
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…
A deterministic attitude estimation problem for a rigid body in an attitude dependent potential field with bounded measurement errors is studied. An attitude estimation scheme that does not use generalized coordinate representations of the…
3D human motion prediction is a research area of high significance and a challenge in computer vision. It is useful for the design of many applications including robotics and autonomous driving. Traditionally, autogregressive models have…
This paper proposes a novel unit-quaternion observer-based controller for attitude tracking (attitude and angular velocity) with guaranteed transient and steady-state performance. The proposed approach is computationally cheap and can…
Using actual flight data from a 50-cm-class microsatellite whose mission and operations have already been completed, this study re-evaluates satellite attitude determination performance and the error characteristics of onboard attitude…
Designing spacecraft trajectories remains challenging in the presence of stochastic effects such as maneuver execution errors and observation uncertainties. Although covariance control and belief-space planning provide useful tools for…
Learning neural implicit fields of 3D shapes is a rapidly emerging field that enables shape representation at arbitrary resolutions. Due to the flexibility, neural implicit fields have succeeded in many research areas, including shape…
Learning about the three-dimensional world from two-dimensional images is a fundamental problem in computer vision. An ideal neural network architecture for such tasks would leverage the fact that objects can be rotated and translated in…
Recently, it has been shown in [Hairer, M., Hutzenthaler, M., Jentzen, A., Loss of regularity for Kolmogorov equations, Ann. Probab. 43, 2 (2015), 468--527] that there exists a system of stochastic differential equations (SDE) on the time…
There has been a great deal of recent interest in learning and approximation of functions that can be expressed as expectations of a given nonlinearity with respect to its random internal parameters. Examples of such representations include…
Precise patient positioning is fundamental to successful removal of malignant tumors during treatment of head and neck cancers. Errors in patient positioning have been known to damage critical organs and cause complications. To better…
The rigid body attitude estimation problem is treated using the discrete-time Lagrange-d'Alembert principle. Three different possibilities are considered for the multi-rate relation between angular velocity measurements and direction vector…
This paper presents four types of tracking control systems for the attitude dynamics of a rigid body. First, a smooth control system is constructed to track a given desired attitude trajectory, while guaranteeing almost semi-global…
Tracking and forecasting the rotation of objects is fundamental in computer vision and robotics, yet SO(3) extrapolation remains challenging as (1) sensor observations can be noisy and sparse, (2) motion patterns can be governed by complex…
This paper presents a novel Lagrangian approach to attitude tracking for rigid spacecraft using unit quaternions, where the motion equations of a spacecraft are described by a four degrees of freedom Lagrangian dynamics subject to a…
This paper analyzes the robustness of recent 3D shape descriptors to SO(3) rotations, something that is fundamental to shape modeling. Specifically, we formulate the task of rotated 3D object instance detection. To do so, we consider a…
It is known that adaptive optimization algorithms represent the key pillar behind the rise of the Machine Learning field. In the Optimization literature numerous studies have been devoted to accelerated gradient methods but only recently…