Related papers: Nonlinear constructive observer design for direct …
This paper proposes a novel approach for designing functional observers for nonlinear systems, with linear error dynamics and assignable poles. Sufficient conditions for functional observability are first derived, leading to functional…
The performance of existing robust homography estimation algorithms is highly dependent on the inlier rate of feature point correspondences. In this paper, we present a novel procedure for homography estimation that is particularly well…
This paper studies nonlinear observer design for rigid-body extended pose estimation using inertial measurements and generic exteroceptive sensing. The estimation problem is formulated as a cascade architecture that separates translational…
The design of a globally convergent position observer for feature points from visual information is a challenging problem, especially for the case with only inertial measurements and without assumptions of uniform observability, which…
In this work, the problem of designing observers for estimating a single nonlinear functional of the state is formulated for general nonlinear systems. Notions of functional observer linearization are also formulated, in terms achieving…
This paper considers the problem of simultaneous estimation of the attitude, position and linear velocity for vehicles navigating in a three-dimensional space. We propose two types of hybrid nonlinear observers using continuous angular…
This paper derives a novel linear position constraint for cameras seeing a common scene point, which leads to a direct linear method for global camera translation estimation. Unlike previous solutions, this method deals with collinear…
Homography estimation is a basic image alignment method in many applications. It is usually conducted by extracting and matching sparse feature points, which are error-prone in low-light and low-texture images. On the other hand, previous…
The problem of finite/fixed-time cooperative state estimation is considered for a class of quasilinear systems with nonlinearities satisfying a H\"older condition. A strongly connected nonlinear distributed observer is designed under the…
In this paper, we propose a simple but effective method for fast image segmentation. We re-examine the locality-preserving character of spectral clustering by constructing a graph over image regions with both global and local connections.…
This paper proposes a geometric interpretation of the angles and scales which the orientation- and scale-covariant feature detectors, e.g. SIFT, provide. Two new general constraints are derived on the scales and rotations which can be used…
Navigation solutions suitable for cases when both autonomous robot's pose (\textit{i.e}., attitude and position) and its environment are unknown are in great demand. Simultaneous Localization and Mapping (SLAM) fulfills this need by…
A symmetry-preserving, reduced-order state observer is presented for the unmeasured part of a system's state, where the nonlinear system dynamics exhibit symmetry under the action of a Lie group. Leveraging this symmetry with a moving…
In this paper, we consider the problem of designing an asymptotic observer for a nonlin-ear dynamical system in discrete-time following Luenberger's original idea. This approach is a two-step design procedure. In a first step, the problem…
In this paper, we use known camera motion associated to a video sequence of a static scene in order to estimate and incrementally refine the surrounding depth field. We exploit the SO(3)-invariance of brightness and depth fields dynamics to…
Nonlinear friction has long been, and continues to be, one of the major challenges for precision motion control systems. A linear asymptotic observer of the motion state variables with nonlinear friction uses a dedicated state-space…
The design of a nonlinear Luenberger observer for a parametrized linear SISO (single-input single-output) system is studied. From an observability assumption of the system, the existence of such an observer is concluded. In a second step, a…
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…
A new approach to design of nonlinear observers (state estimators) is proposed. The main idea is to (i) construct a convex set of dynamical systems which are contracting observers for a particular system, and (ii) optimize over this set for…
Straight lines are common features in human made environments, which makes them a frequently explored feature for control applications. Many control schemes, like Visual Servoing, require the 3D parameters of the features to be estimated.…