Related papers: High-accuracy Vision-Based Attitude Estimation Sys…
This paper addresses the problem of estimating air velocity and full attitude for unmanned aerial vehicles (UAVs) in GNSS-denied environments using minimal onboard sensing-an interesting and practically relevant challenge for UAV…
Positioning with one inertial measurement unit and one ranging sensor is commonly thought to be feasible only when trajectories are in certain patterns ensuring observability. For this reason, to pursue observable patterns, it is required…
Creating mobile robots which are able to find and manipulate objects in large environments is an active topic of research. These robots not only need to be capable of searching for specific objects but also to estimate their poses often…
An efficient and accurate computational approach is proposed for optimal attitude control of a rigid body. The problem is formulated directly as a discrete time optimization problem using a Lie group variational integrator. Discrete…
We present the development of a high-precision sample-position-autocorrection system for photoemission experiments. A binocular vision method based on image pattern matching calculations was realized to track the sample position with an…
Autonomous locomotion for mobile ground robots in unstructured environments such as waypoint navigation or flipper control requires a sufficiently accurate prediction of the robot-terrain interaction. Heuristics like occupancy grids or…
The attitude dynamics of aircraft and spacecraft exhibit significantly nonlinear behaviour. In spacecraft, torque is generated through reaction wheels and control moment gyros. In aircraft, torque is generated using lift on control…
In this work feedback control laws are designed for achieving three-axis attitude stabilization of inertial pointing spacecraft using only magnetic torquers. The designs are based on an almost periodic model of geomagnetic field along the…
Automatic image rotation estimation is a key preprocessing step in many vision pipelines. This task is challenging because angles have circular topology, creating boundary discontinuities that hinder standard regression methods. We present…
In the robotic industry, specular and textureless metallic components are ubiquitous. The 6D pose estimation of such objects with only a monocular RGB camera is difficult because of the absence of rich texture features. Furthermore, the…
We consider imaging of fast moving small objects in space, such as low earth orbit satellites, which are also rotating around a fixed axis. The imaging system consists of ground based, asynchronous sources of radiation and several passive…
We investigate the use of a point cloud measurement in terrain-aided navigation. Our goal is to aid an inertial navigation system, by exploring ways to generate a useful measurement innovation error for effective nonlinear state estimation.…
This paper presents Piggyback Camera, an easy-to-deploy system for visual surveillance using commercial robot vacuums. Rather than requiring access to internal robot systems, our approach mounts a smartphone equipped with a camera and…
Stochastic filters for on-line state estimation are a core technology for autonomous systems. The performance of such filters is one of the key limiting factors to a system's capability. Both asymptotic behavior (e.g.,~for regular…
Consistent motion estimation is fundamental for all mobile autonomous systems. While this sounds like an easy task, often, it is not the case because of changing environmental conditions affecting odometry obtained from vision, Lidar, or…
This paper proposes a computationally efficient method to estimate the time-varying relative pose between two visual-inertial sensor rigs mounted on the flexible wings of a fixed-wing unmanned aerial vehicle (UAV). The estimated relative…
In this paper, we develop a position estimation system for Unmanned Aerial Vehicles formed by hardware and software. It is based on low-cost devices: GPS, commercial autopilot sensors and dense optical flow algorithm implemented in an…
We propose a method for autonomous precision drone landing with fiducial markers and a gimbal-mounted, multi-payload camera with wide-angle, zoom, and IR sensors. The method has minimal data requirements; it depends primarily on the…
Attitude estimation is the process of computing the orientation angles of an object with respect to a fixed frame of reference. Gyroscope, accelerometer, and magnetometer are some of the fundamental sensors used in attitude estimation. The…
Attitude determination using the smartphone's inertial sensors poses a major challenge due to the sensor low-performance grade and variate nature of the walking pedestrian. In this paper, data-driven techniques are employed to address that…