Related papers: An observer cascade for velocity and multiple line…
We present a method to incrementally generate complete 2D or 3D scenes with the following properties: (a) it is globally consistent at each step according to a learned scene prior, (b) real observations of a scene can be incorporated while…
In this work, we tackle the problem of modeling the vehicle environment as dynamic occupancy grid map in complex urban scenarios using recurrent neural networks. Dynamic occupancy grid maps represent the scene in a bird's eye view, where…
Designing sparse sampling strategies is one of the important components in having resilient estimation and control in networked systems as they make network design problems more cost-effective due to their reduced sampling requirements and…
We propose a minimal solution for pose estimation using both points and lines for a multi-perspective camera. In this paper, we treat the multi-perspective camera as a collection of rigidly attached perspective cameras. These type of…
LiDAR-inertial odometry (LIO), which fuses complementary information of a LiDAR and an Inertial Measurement Unit (IMU), is an attractive solution for state estimation. In LIO, both pose and velocity are regarded as state variables that need…
Parameter estimation of nonlinear state-space models from input-output data typically requires solving a highly non-convex optimization problem prone to slow convergence and suboptimal solutions. This work improves the reliability and…
We formulate for the first time visual-inertial initialization as an optimal estimation problem, in the sense of maximum-a-posteriori (MAP) estimation. This allows us to properly take into account IMU measurement uncertainty, which was…
A simultaneous mode, input and state set-valued observer is proposed for hidden mode switched linear systems with bounded-norm noise and unknown input signals. The observer consists of two constituents: (i) a bank of mode-matched observers…
A monocular 3D object tracking system generally has only up-to-scale pose estimation results without any prior knowledge of the tracked object. In this paper, we propose a novel idea to recover the metric scale of an arbitrary dynamic…
In this paper, a concurrent learning based adaptive observer is developed for a class of second-order linear time-invariant systems with uncertain system matrices. The developed technique yields an exponentially convergent state estimator…
This paper presents a novel approach to imitation learning from observations, where an autoregressive mixture of experts model is deployed to fit the underlying policy. The parameters of the model are learned via a two-stage framework. By…
We introduce a novel method for odometry estimation using convolutional neural networks from 3D LiDAR scans. The original sparse data are encoded into 2D matrices for the training of proposed networks and for the prediction. Our networks…
In this paper, we study state estimation of multi-visual-inertial systems (MVIS) and develop sensor fusion algorithms to optimally fuse an arbitrary number of asynchronous inertial measurement units (IMUs) or gyroscopes and global and(or)…
For distributed estimations in a sensor network, the consistency and accuracy of an estimator are greatly affected by the unknown correlations between individual estimates. An inconsistent or too conservative estimate may degrade the…
In this letter, we propose a robust, real-time tightly-coupled multi-sensor fusion framework, which fuses measurement from LiDAR, inertial sensor, and visual camera to achieve robust and accurate state estimation. Our proposed framework is…
In this paper, existence conditions and a design procedure of reduced-order switched positive observers for continuous- and discrete-time switched positive linear systems with uncertainty are established. In the analyzed class, arbitrary…
This paper presents a data-driven approach for designing state observers for continuous-time nonlinear systems, where an extended dynamic mode decomposition (EDMD) procedure is used to identify an approximate linear lifted model. Since such…
We consider the problem of distributed state estimation of a linear time-invariant (LTI) system by a network of sensors. We develop a distributed observer that guarantees asymptotic reconstruction of the state for the most general class of…
Temporally consistent dense video annotations are scarce and hard to collect. In contrast, image segmentation datasets (and pre-trained models) are ubiquitous, and easier to label for any novel task. In this paper, we introduce a method to…
Entropy notions for $\varepsilon$-incremental practical stability and incremental stability of deterministic nonlinear systems under disturbances are introduced. The entropy notions are constructed via a set of points in state space which…