Related papers: Nonlinear constructive observer design for direct …
Emerging single-photon-sensitive sensors combined with advanced inverse methods to process picosecond-accurate time-stamped photon counts have given rise to unprecedented imaging capabilities. Rather than imaging photons that travel along…
We discuss a general and systematic method for obtaining effective Hamiltonians that describe different nonlinear optical processes. The method exploits the existence of a nonlinear deformation of the usual su(2) algebra that arises as the…
We propose globally exponentially convergent continuous observers for invariant kinematic systems on finite-dimensional matrix Lie groups. Such an observer estimates, from measurements of landmarks, vectors and biased velocity, both the…
This paper proposes an algebraic observer-based modulating function approach for linear time-variant systems and a class of nonlinear systems with discrete measurements. The underlying idea lies in constructing an observability…
This paper studies observability for non-uniform hypergraphs with inputs and outputs. To capture higher-order interactions, we define a canonical non-homogeneous dynamical system with nonlinear outputs on hypergraphs. We then construct…
In this work, we address the problem of estimating the so-called "Social Distancing" given a single uncalibrated image in unconstrained scenarios. Our approach proposes a semi-automatic solution to approximate the homography matrix between…
This work addresses the problem of designing an equivariant observer for a first order dynamical system on the unit-sphere. Building upon the established case of unit bearing vector dynamics with angular velocity inputs, we introduce an…
A simple, yet general, formalism for the optimized linear combination of astrophysical images is constructed and demonstrated. The formalism allows the user to combine multiple undersampled images to provide oversampled output at high…
Landmark Inertial Simultaneous Localisation and Mapping (LI-SLAM) is the problem of estimating the locations of landmarks in the environment and the robot's pose relative to those landmarks using landmark position measurements and…
Composition methodologies in the current literature are mainly to promote estimation efficiency via direct composition, either, of initial estimators or of objective functions. In this paper, composite estimation is investigated for both…
We introduce a novel aggregation method to efficiently perform image denoising. Preliminary filters are aggregated in a non-linear fashion, using a new metric of pixel proximity based on how the pool of filters reaches a consensus. We…
Transferring existing image-based detectors to the video is non-trivial since the quality of frames is always deteriorated by part occlusion, rare pose, and motion blur. Previous approaches exploit to propagate and aggregate features across…
By combining the generalized exterior algebra of forms over a noncommutative algebra with the gauging of discrete directions and the associated Higgs fields, we consider the construction of the bosonic sector of left-right symmetric models…
An observer-based boundary controller for infinite-dimensional port-Hamiltonian systems defined on 1D spatial domains is proposed. The design is based on an early-lumping approach in which a finite-dimensional approximation of the…
The Koopman operator approach to the state estimation problem for nonlinear systems is a promising research area. The main goal of this paper is an attempt to provide a rigorous theoretical framework for this approach. In particular, the…
A power constrained sensor network that consists of multiple sensor nodes and a fusion center (FC) is considered, where the goal is to estimate a random parameter of interest. In contrast to the distributed framework, the sensor nodes may…
We present a method for associating labeled directed graphs to finite-dimensional Lie algebras, thereby enabling rapid identification of key structural algebraic features. To formalize this approach, we introduce the concept of…
In this paper we propose a new state observer design technique for nonlinear systems. It consists of an extension of the recently introduced parameter estimation-based observer, which is applicable for systems verifying a particular…
Being able to see beyond the direct line of sight is an intriguing prospective and could benefit a wide variety of important applications. Recent work has demonstrated that time-resolved measurements of indirect diffuse light contain…
Robots-operating autonomous assembly applications in an unstructured environment require precise methods to locate the building components on site. However, the current available object detection systems are not well-optimised for…