Related papers: Attitude Estimation Using Scalar Measurements
Accurate scale estimation of a target is a challenging research problem in visual object tracking. Most state-of-the-art methods employ an exhaustive scale search to estimate the target size. The exhaustive search strategy is…
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…
Visual navigation devices require precise calibration to achieve high-precision localization and navigation, which includes camera and attitude calibration. To address the limitations of time-consuming camera calibration and complex…
In this work, asymptotically stable state estimation schemes are proposed for rigid body motion, using the framework of geometric mechanics. Rigorous stability analyses of the estimation schemes presented here guarantee the nonlinear…
The immersion and the interaction are the important features of the driving simulator. To improve these characteristics, this paper proposes a low-cost and mark-less driver head tracking framework based on the head pose estimation model,…
We propose a nonlinear observer to estimate the state (orientation and in-plane velocity vector) of the quadrotor, based on a drag-force-enhanced model. It is an alternative to recent works using a similar model together with an Extended…
A time optimal attitude control problem is studied for the dynamics of a rigid body. The objective is to minimize the time to rotate the rigid body to a desired attitude and angular velocity while subject to constraints on the control…
This paper describes the synthesis and evaluation of a novel state estimator for a Quadrotor Micro Aerial Vehicle. Dynamic equations which relate acceleration, attitude and the aero-dynamic propeller drag are encapsulated in an extended…
We consider the problem of sample-based feedback-based motion planning from bearing (direction-only) measurements. We build on our previous work that defines a cell decomposition of the environment using RRT*, and finds an output feedback…
This paper introduces a framework for state estimation on a humanoid robot platform using only common proprioceptive sensors and knowledge of leg kinematics. The presented approach extends that detailed in [1] on a quadruped platform by…
This paper addresses state estimation of linear systems with special attention on unknown process and measurement noise covariances, aiming to enhance estimation accuracy while preserving the stability guarantee of the Kalman filter. To…
This paper proposes a novel unit-quaternion observer-based controller for attitude tracking (attitude and angular velocity) with guaranteed transient and steady-state performance. The proposed approach is computationally cheap and can…
Visual object tracking (VOT) is an essential component for many applications, such as autonomous driving or assistive robotics. However, recent works tend to develop accurate systems based on more computationally expensive feature…
Kalman filters are widely used for object tracking, where process and measurement noise are usually considered accurately known and constant. However, the exact known and constant assumptions do not always hold in practice. For example,…
An observer is an estimator of the state of a dynamical system from noisy sensor measurements. The need for observers is ubiquitous, with applications in fields ranging from engineering to biology to economics. The most widely used observer…
As a fundamental technique that concerns several vision tasks such as image parsing, action recognition and clothing retrieval, human pose estimation (HPE) has been extensively investigated in recent years. To achieve accurate and reliable…
Relative pose estimation between fixed-wing unmanned aerial vehicles (UAVs) is treated using a stable and robust estimation scheme. The motivating application of this scheme is that of "handoff" of an object being tracked from one…
This paper addresses the problem of tracking the position of a cable-suspended payload carried by an unmanned aerial vehicle, with a focus on real-world deployment and minimal hardware requirements. In contrast to many existing approaches…
This paper proposes to use the three vectors in a rotation matrix as the representation in head pose estimation and develops a new neural network based on the characteristic of such representation. We address two potential issues existed in…
This letter presents an accurate and robust Lidar Inertial Odometry framework. We fuse LiDAR scans with IMU data using a tightly-coupled iterative error state Kalman filter for robust and fast localization. To achieve robust correspondence…