Related papers: Equivariant Filter for Relative Attitude and Targe…
Understanding human motion is of critical importance for health monitoring and control of assistive robots, yet many human kinematic variables cannot be directly or accurately measured by wearable sensors. In recent years, invariant…
Aimed at solving the problem of Attitude and Heading Reference System(AHRS) in the complex and dynamic conditions for small-UAV, An intelligent Singular Value Decomposition Cubature Kalman Filter(SVDCKF) combined with the Variable Adaptive…
The hand-eye measurements have recently been proven to be very efficient for spacecraft attitude determination relative to an ellipsoidal asteroid. However, recent method does not guarantee full attitude observability for all conditions.…
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…
In-flight objects capture is extremely challenging. The robot is required to complete trajectory prediction, interception position calculation and motion planning in sequence within tens of milliseconds. As in-flight uneven objects are…
Due to the state trajectory-independent features of invariant Kalman filtering (InEKF), it has attracted widespread attention in the research community for its significantly improved state estimation accuracy and convergence under…
In this paper, we introduce a novel approach for ground plane normal estimation of wheeled vehicles. In practice, the ground plane is dynamically changed due to braking and unstable road surface. As a result, the vehicle pose, especially…
All quaternion methods for static attitude determination currently rely on either the spectral decomposition of a 4 x 4 matrix (q-Method) or finding the maximum eigenvalue of a 4th-order characteristic equation (QUEST). Using a spectral…
Localization in indoor environments is a technique which estimates the robot's pose by fusing data from onboard motion sensors with readings of the environment, in our case obtained by scan matching point clouds captured by a low-cost…
This paper presents an equivariant reinforcement learning framework for quadrotor unmanned aerial vehicles. Successful training of reinforcement learning often requires numerous interactions with the environments, which hinders its…
This work deals with error models for trident quaternion framework proposed in the companion paper (Part I) and further uses them to investigate the odometer-aided static/in-motion inertial navigation attitude alignment for land vehicles.…
This document describes standard approaches for filtering and estimation for quadrotors, created for the Udacity Flying Cars course. We assume previous knowledge of probability and some knowledge of linear algebra. We do not assume previous…
(Abridged) Quantitative three-dimensional (3D) position and velocity estimates obtained by passive radar will assist the Galileo Project in the detection and classification of aerial objects by providing critical measurements of range,…
The main contribution of this paper is a high frequency, low-complexity, on-board visual-inertial odometry system for quadrotor micro air vehicles. The system consists of an extended Kalman filter (EKF) based state estimation algorithm that…
In this letter, we review the well known ambiguity in defining angular momentum (and mass dipole) fluxes in general relativity and we reinterpret recent works that resolve the ambiguity by defining invariant charges. We resolve the…
In this paper, we present a UKF-PF based hybrid nonlinear filter for space object tracking. Estimating the state and its associated uncertainty, also known as filtering is paramount to the tracking process. The periodicity of the Keplerian…
Creating accurate and efficient 3D models poses significant challenges, particularly in addressing large viewpoint variations, computational complexity, and alignment discrepancies. Efficient camera path generation can help resolve these…
This paper addresses the leader-following attitude consensus problem for a group of spacecraft when at least one follower can access the leader's attitude and velocity relative to the inertial space. A nonlinear distributed observer is…
Size, weight, and power constrained platforms impose constraints on computational resources that introduce unique challenges in implementing localization algorithms. We present a framework to perform fast localization on such platforms…
Outdoor 3D object detection has played an essential role in the environment perception of autonomous driving. In complicated traffic situations, precise object recognition provides indispensable information for prediction and planning in…