Related papers: Robust Egoistic Rigid Body Localization

R}easoning for Robust Human Pose and Shape Estimation), designed to estimate human body shape and pose from single-view images. ReBaR effectively addresses the challenges of occlusions and depth ambiguity by learning reference features for…

We present a solution to egocentric 3D body pose estimation from monocular images captured from downward looking fish-eye cameras installed on the rim of a head mounted VR device. This unusual viewpoint leads to images with unique visual…

This article addresses the localization problem in robotic autonomous luggage trolley collection at airports and provides a systematic evaluation of different methods to solve it. The robotic autonomous luggage trolley collection is a…

Correlated outcomes are common in many practical problems. In some settings, one outcome is of particular interest, and others are auxiliary. To leverage information shared by all the outcomes, traditional multi-task learning (MTL)…

In inverse reinforcement learning (IRL), the central objective is to infer underlying reward functions from observed expert behaviors in a way that not only explains the given data but also generalizes to unseen scenarios. This ensures…

Robotic systems that rely primarily on self-supervised learning have the potential to decrease the amount of human annotation and engineering effort required to learn control strategies. In the same way that prior robotic systems have…

Mutual localization provides a consensus of reference frame as an essential basis for cooperation in multirobot systems. Previous works have developed certifiable and robust solvers for relative transformation estimation between each pair…

Human pose estimation is a key step to action recognition. We propose a method of estimating 3D human poses from a single image, which works in conjunction with an existing 2D pose/joint detector. 3D pose estimation is challenging because…

A deterministic attitude estimation problem for a rigid body in an attitude dependent potential field with bounded measurement errors is studied. An attitude estimation scheme that does not use generalized coordinate representations of the…

Virtual try-on and product personalization have become increasingly important in modern online shopping, highlighting the need for accurate body measurement estimation. Although previous research has advanced in estimating 3D body shapes…

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…

Navigation of a mobile robot is conditioned on the knowledge of its pose. In observer-based localisation configurations its initial pose may not be knowable in advance, leading to the need of its estimation. Solutions to the problem of…

Recent deep reinforcement learning (DRL) successes rely on end-to-end learning from fixed-size observational inputs (e.g. image, state-variables). However, many challenging and interesting problems in decision making involve observations or…

We consider elastic bodies in rigid rotation, both nonrelativistically and in special relativity. Assuming a body to be in its natural state in the absence of rotation, we prove the existence of solutions to the elastic field equations for…

Motion behaviors of a rigid body can be characterized by a 6-dimensional motion trajectory, which contains position vectors of a reference point on the rigid body and rotations of this rigid body over time. This paper devises a Rotation and…

Reliability is a key factor for realizing safety guarantee of full autonomous robot systems. In this paper, we focus on reliability in mobile robot localization. Monte Carlo localization (MCL) is widely used for mobile robot localization.…

Extrinsic calibration is essential for multi-sensor fusion, existing methods rely on structured targets or fully-excited data, limiting real-world applicability. Online calibration further suffers from weak excitation, leading to unreliable…

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…

Determining the relative position and orientation of objects in an environment is a fundamental building block for a wide range of robotics applications. To accomplish this task efficiently in practical settings, a method must be fast, use…

Inertial localisation is an important technique as it enables ego-motion estimation in conditions where external observers are unavailable. However, low-cost inertial sensors are inherently corrupted by bias and noise, which lead to unbound…