Related papers: Discrete-time Rigid Body Pose Estimation based on …
This paper formulates optimal control problems for rigid bodies in a geometric manner and it presents computational procedures based on this geometric formulation for numerically solving these optimal control problems. The dynamics of each…
The problem of estimating the angular speed of a solid body from attitude measurements is addressed. To solve this problem, we propose an observer whose dynamics are not constrained to evolve on any specific manifold. This drastically…
For the linearized setting of the dynamics of complex bodies we construct variational integrators and prove their convergence by making use of BV estimates on the rate fields. We allow for peculiar substructural inertia and internal…
A continuous solution is proposed to the problem of uniform global exponential estimation of the angular velocity for rigid bodies by means of direct attitude measurements. The proposed observer is designed on…
In the paper, we propose a robust real-time visual odometry in dynamic environments via rigid-motion model updated by scene flow. The proposed algorithm consists of spatial motion segmentation and temporal motion tracking. The spatial…
By one of the most fundamental principles in physics, a dynamical system will exhibit those motions which extremise an action functional. This leads to the formation of the Euler-Lagrange equations, which serve as a model of how the system…
This paper proposes a new method for rigid body pose estimation based on spectrahedral representations of the tautological orbitopes of $SE(2)$ and $SE(3)$. The approach can use dense point cloud data from stereo vision or an RGB-D sensor…
We propose an optimal control method for simultaneous slewing and vibration control of flexible spacecraft. Considering dynamics on different time scales, the optimal control problem is discretized on micro and macro time grids using a…
There are several attitude estimation algorithms in existence, all of which use local coordinate representations for the group of rigid body orientations. All local coordinate representations of the group of orientations have associated…
Forced variational integrators are given by the discretization of the Lagrange-d'Alembert principle for systems subject to external forces, and have proved useful for numerical simulation studies of complex dynamical systems. In this paper…
Sensor-based Human Activity Recognition facilitates unobtrusive monitoring of human movements. However, determining the most effective sensor placement for optimal classification performance remains challenging. This paper introduces a…
This paper revisits the problem of orientation estimation for rigid bodies through a novel framework based on scalar measurements. Unlike traditional vector-based methods, the proposed approach enables selective utilization of only the…
Recent advances in deep pose estimation models have proven to be effective in a wide range of applications such as health monitoring, sports, animations, and robotics. However, pose estimation models fail to generalize when facing images…
The motion capture system that supports full-body virtual representation is of key significance for virtual reality. Compared to vision-based systems, full-body pose estimation from sparse tracking signals is not limited by environmental…
Pose estimation commonly refers to computer vision methods that recognize people's body postures in images or videos. With recent advancements in deep learning, we now have compelling models to tackle the problem in real-time. Since these…
This paper introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D…
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…
Human pose estimation is a key step to action recognition. We propose a method of estimating 3D human poses from a single image, which works in conjunction with an existing 2D pose/joint detector. 3D pose estimation is challenging because…
Attitude estimation is often a prerequisite for control of the attitude or orientation of mechanical systems. Current attitude estimation algorithms use coordinate representations for the group of rigid body orientations. All coordinate…
Pose estimation refers to tracking a human's full body posture, including their head, torso, arms, and legs. The problem is challenging in practical settings where the number of body sensors are limited. Past work has shown promising…