Related papers: Target Tracking Using the Invariant Extended Kalma…
In this paper, optical target tracking, by regular target bearing measurements and target range in a lower and scheduled measurement rate is considered. Variance of the target range estimation error is used as scheduling criterion. For this…
Real-time numerical differentiation plays a crucial role in many digital control algorithms, such as PID control, which requires numerical differentiation to implement derivative action. This paper addresses the problem of numerical…
Attitude estimation is crucial in aerospace engineering, robotics, and virtual reality applications, but faces difficulties due to nonlinear system dynamics and sensor limitations. This paper addresses the challenge of attitude estimation…
For multi-target tracking, target representation plays a crucial rule in performance. State-of-the-art approaches rely on the deep learning-based visual representation that gives an optimal performance at the cost of high computational…
The fusion of camera sensor and inertial data is a leading method for ego-motion tracking in autonomous and smart devices. State estimation techniques that rely on non-linear filtering are a strong paradigm for solving the associated…
Point tracking in video sequences is a foundational capability for real-world computer vision applications, including robotics, autonomous systems, augmented reality, and video analysis. While recent deep learning-based trackers achieve…
This article examines state estimation in discrete-time nonlinear stochastic systems with finite-dimensional states and infinite-dimensional measurements, motivated by real-world applications such as vision-based localization and tracking.…
While the tracking of multiple extended targets demands for sophisticated algorithms to handle the high complexity inherent to the task, it also requires low runtime for online execution in real-world scenarios. In this work, we derive a…
Extended Kalman Filter (EKF) has been a popular approach to localization a mobile robot. However, the performance of the EKF and the quality of the estimation depends on the correct a priori knowledge of process and measurement noise…
This paper presents a novel approach to enhance sensing capabilities in UAV-enabled MIMO-OFDM ISAC systems by leveraging UAV mobility as a mono-static radar. By integrating uniform planar arrays (UPAs) and modeling the UAV dynamics in…
This paper presents a solution for the state estimation and control problems for a class of unconventional vertical takeoff and landing (VTOL) UAVs operating in forward-flight conditions. A tightly-coupled state estimation approach is used…
Multi-object tracking (MOT) aims at estimating bounding boxes and identities of objects in videos. Most methods can be roughly classified as tracking-by-detection and joint-detection-association paradigms. Although the latter has elicited…
In this paper, we focus on developing an Invariant Extended Kalman Filter (IEKF) for extended pose estimation for a noisy system with state equality constraints. We treat those constraints as noise-free pseudo-measurements. To this aim, we…
While many works exploiting an existing Lie group structure have been proposed for state estimation, in particular the Invariant Extended Kalman Filter (IEKF), few papers address the construction of a group structure that allows casting a…
Electrical impedance tomography (EIT) has been successfully applied to several important application domains such as medicine, geophysics and industrial imaging. EIT offers a high temporal resolution, which allows to track the location of a…
Autonomous surface vessels (ASVs) are increasingly vital for marine science, offering robust platforms for underwater mapping and inspection. Accurate state estimation, particularly of vehicle pose, is paramount for precise seafloor…
In this paper, a position and velocity estimation method for robotic manipulators which are affected by constant bounded disturbances is considered. The tracking control problem is formulated as a disturbance rejection problem, with all the…
Extended object tracking considers the simultaneous estimation of the kinematic state and the shape parameters of a moving object based on a varying number of noisy detections. A main challenge in extended object tracking is the…
The paper focuses on the problem of vision-based obstacle detection and tracking for unmanned aerial vehicle navigation. A real-time object localization and tracking strategy from monocular image sequences is developed by effectively…
This letter proposes a reactive navigation strategy for recovering the altitude, translational velocity and orientation of Micro Aerial Vehicles. The main contribution lies in the direct and tight fusion of Inertial Measurement Unit (IMU)…