Related papers: Pose-Following with Dual Quaternions

Pose estimation is a widely explored problem, enabling many robotic tasks such as grasping and manipulation. In this paper, we tackle the problem of pose estimation for objects that exhibit rotational symmetry, which are common in man-made…

Although there is a significant development in 3D Multi-view Multi-person Tracking (3D MM-Tracking), current 3D MM-Tracking frameworks are designed separately for footprint and pose tracking. Specifically, frameworks designed for footprint…

This paper addresses the problem of designing a trajectory tracking control law for a quadrotor UAV, subsequent to complete failure of a single rotor. The control design problem considers the reduced state space which excludes the angular…

Person identification is a problem that has received substantial attention, particularly in security domains. Gait recognition is one of the most convenient approaches enabling person identification at a distance without the need of…

This paper presents tracking control laws for two different objectives of a nonholonomic system - a spherical robot - using a geometric approach. The first control law addresses orientation tracking using a modified trace potential…

Objects' rigid motions in 3D space are described by rotations and translations of a highly-correlated set of points, each with associated $x,y,z$ coordinates that real-valued networks consider as separate entities, losing information.…

Inverse kinematics is a fundamental technique for motion and positioning control in robotics, typically applied to end-effectors. In this paper, we extend the concept of inverse kinematics to guiding vector fields for path following in…

The leader-follower formation control analysis for multiple quad-rotor systems is investigated in this paper. To achieve predefined formation in the three-dimensional air space ($x,y$ and $z$), a novel local tracking control law and a…

This paper studies a leader-follower formation tracking problem where the leaders are moving at the same unknown bounded velocity. A distance-based control law is proposed for follower agents to maintain the desired distances in the…

In this paper we consider the localization problem for a visual sensor network. Inspired by the alternate attitude and position distributed optimization framework discussed in [1], we propose an estimation scheme that exploits the unit dual…

Motion retargeting is a fundamental problem in computer graphics and computer vision. Existing approaches usually have many strict requirements, such as the source-target skeletons needing to have the same number of joints or share the same…

We present a method for learning an embedding that places images of humans in similar poses nearby. This embedding can be used as a direct method of comparing images based on human pose, avoiding potential challenges of estimating body…

We present a new stability proof for cascaded geometric control used by aerial vehicles tracking time-varying position trajectories. Our approach uses sliding variables and a recently proposed quaternion-based sliding controller to…

A complete model of quadcopter motion for the task of dynamic positioning at a specified point is derived. Based on this model, two control algorithms are proposed. The first one generalizes previously obtained results to the case of a…

We present a novel multi-attentional convolutional architecture to tackle the problem of real-time RGB-D 6D object pose tracking of single, known objects. Such a problem poses multiple challenges originating both from the objects' nature…

We introduce a new class of attitude control laws for rotational systems; the proposed framework generalizes the use of the Euler \mbox{axis--angle} representation beyond quaternion-based formulations. Using basic Lyapunov stability theory…

Automated pose correction remains a significant challenge in AI-driven fitness systems, despite extensive research in activity recognition. This work presents PosePilot, a novel system that integrates pose recognition with real-time…

Modeling the kinematics and dynamics of robotics systems with suspended loads using dual quaternions has not been explored so far. This paper introduces a new innovative control strategy using dual quaternions for UAVs with cable-suspended…

In order to meet the requirements for autonomous systems in real world applications, reliable path following controllers have to be designed to execute planned paths despite the existence of disturbances and model errors. In this paper we…

Human poses and motions are important cues for analysis of videos with people and there is strong evidence that representations based on body pose are highly effective for a variety of tasks such as activity recognition, content retrieval…