Related papers: Constructive Equivariant Observer Design for Inert…
We propose a geometric control framework on $SE(3)$ for quadrotors that enforces pointing-driven missions without completing a full attitude reference. The mission is encoded through virtual constraints defining a task manifold and an…
In this article, a tutorial introduction to visual-inertial navigation(VIN) is presented. Visual and inertial perception are two complementary sensing modalities. Cameras and inertial measurement units (IMU) are the corresponding sensors…
This paper presents a general purpose framework for autonomous, vision-based interception of dynamic, non-cooperative targets, validated across three distinct mobility platforms: an unmanned aerial vehicle (UAV), a four-wheeled ground…
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…
Visual-Inertial (VI) sensors are popular in robotics, self-driving vehicles, and augmented and virtual reality applications. In order to use them for any computer vision or state-estimation task, a good calibration is essential. However,…
This paper addresses the leader-following attitude consensus problem for a group of spacecraft when at least one follower can access the leader's attitude and velocity relative to the inertial space. A nonlinear distributed observer is…
Visual Inertial Odometry (VIO) is an essential component of modern Augmented Reality (AR) applications. However, VIO only tracks the relative pose of the device, leading to drift over time. Absolute pose estimation methods infer the…
We present a coupled Variational Auto-Encoder (VAE) method that improves the accuracy and robustness of the probabilistic inferences on represented data. The new method models the dependency between input feature vectors (images) and weighs…
The process of simultaneously mapping the environment in three dimensional (3D) space and localizing a moving vehicle's pose (orientation and position) is termed Simultaneous Localization and Mapping (SLAM). SLAM is a core task in robotics…
In this paper we propose an effective vision-based navigation method that allows a multirotor vehicle to simultaneously reach a desired goal pose in the environment while constantly facing a target object or landmark. Standard techniques…
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,…
This work presents a contracting hierarchical observer that fuses position and orientation measurements with an IMU to generate smooth position, linear velocity, orientation, and IMU bias estimates that are guaranteed to converge to their…
Onboard visual sensing has been widely used in the unmanned ground vehicle (UGV) and/or unmanned aerial vehicle (UAV), which can be modeled as dynamic systems on SE(3). The onboard sensing outputs of the dynamic system can usually be…
In practical applications, the efficacy of a control algorithm relies critically on the accurate knowledge of the parameters and states of the underlying system. However, obtaining these quantities in practice is often challenging. Adaptive…
We analyze the observability of motion estimates from the fusion of visual and inertial sensors. Because the model contains unknown parameters, such as sensor biases, the problem is usually cast as a mixed identification/filtering, and the…
Combining Global Navigation Satellite System (GNSS) with visual and inertial sensors can give smooth pose estimation without drifting. The fusion system gradually degrades to Visual-Inertial Odometry (VIO) with the number of satellites…
Visual Question Answering (VQA) models employ attention mechanisms to discover image locations that are most relevant for answering a specific question. For this purpose, several multimodal fusion strategies have been proposed, ranging from…
This paper proposes a design methodology for non-linear state observers for invariant kinematic systems posed on finite dimensional connected Lie groups, and studies the associated fundamental system structure. The concept of synchrony of…
In this paper, we investigate the visual tracking problem for robotic systems without image-space velocity measurement, simultaneously taking into account the uncertainties of the camera model and the manipulator kinematics and dynamics. We…
This article concerns the development of the Vector Field Orientation - Active Disturbance Rejection (VFO-ADR) cascaded path-following controller for underactuated vehicles moving in a 3-dimensional space. The proposed concept of a cascaded…