Related papers: Nonlinear constructive observer design for direct …

This paper derives for non-linear, time-varying and feedback linearizable systems simple controller designs to achieve specified state-and timedependent complex convergence rates. This approach can be regarded as a general gain-scheduling…

We derive an exact deterministic nonlinear observer to compute the continuous state of an inertial navigation system based on partial discrete measurements, the so-called strapdown problem. Nonlinear contraction is used as the main analysis…

We present a large scale benchmark for the evaluation of local feature detectors. Our key innovation is the introduction of a new evaluation protocol which extends and improves the standard detection repeatability measure. The new protocol…

In this paper we present a radically new approach to design state observers for nonlinear systems, with particular emphasis on physical ones. Our objective is to obtain an algebraic relation between the unmeasurable part of the state and…

A new adaptive observer is proposed for a certain class of nonlinear systems with bounded unknown input and parametric uncertainty. Unlike most existing solutions, the proposed approach ensures asymptotic convergence of the unknown…

We propose a novel direct sparse visual odometry formulation. It combines a fully direct probabilistic model (minimizing a photometric error) with consistent, joint optimization of all model parameters, including geometry -- represented as…

Using Lie group theory and canonical transformations, we construct explicit solutions of nonlinear Schrodinger equations with spatially inhomogeneous nonlinearities. We present the general theory, use it to study different examples and use…

We summarize recent progress on the symmetric subtraction of the Non-Linear Sigma Model in $D$ dimensions, based on the validity of a certain Local Functional Equation (LFE) encoding the invariance of the SU(2) Haar measure under local left…

This paper proposes local exponential observers for systems on linear Lie groups. We study two different classes of systems. In the first class, the full state of the system evolves on a linear Lie group and is available for measurement. In…

A simply structured distributed observer is described for estimating the state of a discrete-time, jointly observable, input-free, linear system whose sensed outputs are distributed across a time-varying network. It is explained how to…

Homography estimation is often an indispensable step in many computer vision tasks. The existing approaches, however, are not robust to illumination and/or larger viewpoint changes. In this paper, we propose bidirectional implicit…

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…

Estimating camera pose from a single image is a fundamental problem in computer vision. Existing methods for solving this task fall into two distinct categories, which we refer to as direct and indirect. Direct methods, such as PoseNet,…

Relative pose estimation is crucial for various computer vision applications, including Robotic and Autonomous Driving. Current methods primarily depend on selecting and matching feature points prone to incorrect matches, leading to poor…

This survey describes some useful properties of the local homology of abstract simplicial complexes. Although the existing literature on local homology is somewhat dispersed, it is largely dedicated to the study of manifolds, submanifolds,…

This paper utilizes the recently proposed cubic observer to estimate the state of a class of nonlinear systems. The cubic observer is proposed as an alternative to linear observers for improved convergence rate and robustness. It is shown…

We discuss a design approach for nonlinear discrete-time adaptive observer. This involves transforming a nonlinear system into a quasi-LPV (Linear Parameter Varying) polytopic model in Takagi-Sugeno (T-S) form using nonlinear embedding and…

This paper proposes a distributed prescribed-time observer for nonlinear systems representable in a block-triangular observable canonical form. Using a weighted average of neighbor estimates exchanged over a strongly connected digraph, each…

We propose the use of indirect inference estimation to conduct inference in complex locally stationary models. We develop a local indirect inference algorithm and establish the asymptotic properties of the proposed estimator. Due to the…

Robust and accurate planar tracking over a whole video sequence is vitally important for many vision applications. The key to planar object tracking is to find object correspondences, modeled by homography, between the reference image and…