Related papers: Relative Kinematics Estimation Using Accelerometer…
Relative camera pose estimation, i.e. estimating the translation and rotation vectors using a pair of images taken in different locations, is an important part of systems in augmented reality and robotics. In this paper, we present an…
Future urban transportation concepts include a mixture of ground and air vehicles with varying degrees of autonomy in a congested environment. In such dynamic environments, occupancy maps alone are not sufficient for safe path planning.…
This paper contributes towards the development of motion tracking algorithms for time-critical applications, proposing an infrastructure for solving dynamically the inverse kinematics of highly articulate systems such as humans. We present…
Autonomous mobile robots are widely used for navigation, transportation, and inspection tasks indoors and outdoors. In practical situations of limited satellite signals or poor lighting conditions, navigation depends only on inertial…
Current error estimates on kinematic parameters are based on the assumption that the data points in the spectra follow a Poisson distribution. For realistic data that have undergone several steps in a reduction process, this is generally…
This paper is concerned with the problem of distributed extended object tracking, which aims to collaboratively estimate the state and extension of an object by a network of nodes. In traditional tracking applications, most approaches…
The movement changes the underlying spatial representation of the participated mobile objects or nodes. In real world scenario, such mobile nodes can be part of any biological network, transportation network, social network, human…
This project explores the feasibility of remote patient monitoring based on the analysis of 3D movements captured with smartwatches. We base our analysis on the Kinematic Theory of Rapid Human Movement. We have validated our research in a…
Consistent motion estimation is fundamental for all mobile autonomous systems. While this sounds like an easy task, often, it is not the case because of changing environmental conditions affecting odometry obtained from vision, Lidar, or…
The varying coefficient model has received broad attention from researchers as it is a powerful dimension reduction tool for non-parametric modeling. Most existing varying coefficient models fitted with polynomial spline assume equidistant…
In this paper, we derive the Cramer-Rao bound (CRB) for joint target position and velocity estimation using an active or passive distributed radar network under more general, and practically occurring, conditions than assumed in previous…
Human motion prediction, i.e., forecasting future body poses given observed pose sequence, has typically been tackled with recurrent neural networks (RNNs). However, as evidenced by prior work, the resulted RNN models suffer from prediction…
Distance metric learning is an important component for many tasks, such as statistical classification and content-based image retrieval. Existing approaches for learning distance metrics from pairwise constraints typically suffer from two…
In the context of autonomous airships, several works in control and guidance use wind velocity to design a control law. However, in general, this information is not directly measured in robotic airships. This paper presents three…
Learning articulated object pose is inherently difficult because the pose is high dimensional but has many structural constraints. Most existing work do not model such constraints and does not guarantee the geometric validity of their pose…
Real time outdoor navigation in highly dynamic environments is an crucial problem. The recent literature on real time static SLAM don't scale up to dynamic outdoor environments. Most of these methods assume moving objects as outliers or…
Relativity is an integral part of positioning systems, and this is taken into account in today's practice by applying many "relativistic corrections" to computations performed using concepts borrowed from Galilean physics. A different,…
Consider a graph $G = (V, E)$ and some commuters, each specified by a tuple $(u, v, b)$ consisting of two nodes in the graph $u, v \in V$ and a non-negative real number $b$, specifying their budget. The goal is to find a pricing function…
Important applications in robotic and sensor networks require distributed algorithms to solve the so-called relative localization problem: a node-indexed vector has to be reconstructed from measurements of differences between neighbor…
Background. Joint range of motion (ROM) is an important quantitative measure for physical therapy. Commonly relying on a goniometer, accurate and reliable ROM measurement requires extensive training and practice. This, in turn, imposes a…