Related papers: Haptic-based Complementary Filter for Rigid Body R…
This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement Unit (IMU) providing body-frame measurements of the angular…
3D models of humans are commonly used within computer graphics and vision, and so the ability to distinguish between body shapes is an important shape retrieval problem. We extend our recent paper which provided a benchmark for testing…
This paper proposes new algorithms for attitude estimation and control based on fused inertial vector measurements using linear complementary filters principle. First, n-order direct and passive complementary filters combined with TRIAD…
Precise 3D measurements of rigid surfaces are desired in many fields of application like quality control or surgery. Often, views from all around the object have to be acquired for a full 3D description of the object surface. We present a…
Robotic affordance estimation is challenging due to visual, geometric, and semantic ambiguities in sensory input. We propose a method that disambiguates these signals using two coupled recursive estimators for sub-aspects of affordances:…
The ideal imaging system would efficiently capture information about all fundamental properties light: intensity, direction, wavelength, and polarization. Most common imaging systems only map the spatial degrees of freedom of light onto a…
We suggest a novel shape matching algorithm for three-dimensional surface meshes of disk or sphere topology. The method is based on the physical theory of nonlinear elasticity and can hence handle large rotations and deformations.…
Feature-based homography estimation approaches rely on extensive image processing for feature extraction and matching, and do not adequately account for the information provided by the image. Therefore, developing efficient direct…
Robotic three-dimensional (3D) ultrasound (US) imaging has been employed to overcome the drawbacks of traditional US examinations, such as high inter-operator variability and lack of repeatability. However, object movement remains a…
Establishing accurate point-to-point correspondences between non-rigid 3D shapes remains a critical challenge, particularly under non-isometric deformations and topological noise. Existing functional map pipelines suffer from ambiguities…
We propose a method to track the 6D pose of an object over time, while the object is under non-prehensile manipulation by a robot. At any given time during the manipulation of the object, we assume access to the robot joint controls and an…
We present an algorithm to estimate the rotation pole of a principal-axis rotator using silhouette images collected from multiple camera poses. First, a set of images is stacked to form a single silhouette-stack image, where the object's…
We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions…
Line features are valid complements for point features in man-made environments. 3D-2D constraints provided by line features have been widely used in Visual Odometry (VO) and Structure-from-Motion (SfM) systems. However, how to accurately…
Nonreciprocal transport in superconducting systems serves as a powerful probe of symmetry-breaking mechanisms, with the superconducting diode effect emerging as a key manifestation enabling cryogenic rectification. While theoretical models…
We propose a novel framework to automatically learn to aggregate and transform photometric measurements from multiple unstructured views into spatially distinctive and view-invariant low-level features, which are subsequently fed to a…
6D pose estimation of rigid objects from RGB-D images is crucial for object grasping and manipulation in robotics. Although RGB channels and the depth (D) channel are often complementary, providing respectively the appearance and geometry…
Despite the success of deep functional maps in non-rigid 3D shape matching, there exists no learning framework that models both self-symmetry and shape matching simultaneously. This is despite the fact that errors due to symmetry mismatch…
Physics-based understanding of object interactions from sensory observations is an essential capability in augmented reality and robotics. It enables to capture the properties of a scene for simulation and control. In this paper, we propose…
Knowledge of how a body is oriented relative to the world is frequently invaluable information in the field of robotics. An attitude estimator that fuses 3-axis gyroscope, accelerometer and magnetometer data into a quaternion orientation…