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The contrast performance of current eXtreme Adaptive Optics (XAO) systems can be improved by adding a second AO correction stage featuring its own wavefront sensor, deformable mirror, and real-time controller. We develop a dynamical model…
The extended Kalman filter (EKF) has been the industry standard for state estimation problems over the past sixty years. The Invariant Extended Kalman Filter (IEKF) is a recent development of the EKF for the class of group-affine systems on…
Recently, correlation filter has been widely applied in unmanned aerial vehicle (UAV) tracking due to its high frame rates, robustness and low calculation resources. However, it is fragile because of two inherent defects, i.e, boundary…
Optical quasar spectra can be used to trace variations of the fine-structure constant alpha. Controversial results that have been published in last years suggest that in addition to to wavelength calibration problems systematic errors might…
Aiming to enhance the consistency and thus long-term accuracy of Extended Kalman Filters for terrestrial vehicle localization, this paper introduces the Manifold Error State Extended Kalman Filter (M-ESEKF). By representing the robot's pose…
This paper presents a novel approach to improve the accuracy of tracking multiple objects in a static scene using a particle filter system by introducing a data association step, a state queue for the collection of tracked objects and…
This paper introduces an advanced Quaternion-based Unscented Kalman Filter (QUKF) for real-time, robust estimation of system states and external wrenches in assistive aerial payload transportation systems that engage in direct physical…
In coherent optical communication across turbulent atmospheric channels, reference beacons can be multiplexed with information-encoded signals during transmission. In this case, it is commonly assumed that the wavefront distortion of the…
Tracking the object 6-DoF pose is crucial for various downstream robot tasks and real-world applications. In this paper, we investigate the real-world robot task of aerial vision guidance for aerial robotics manipulation, utilizing…
An alternative, new laser link acquisition scheme for the triangular constellation of spacecraft (SCs) in deep space in the detection of gravitational waves is considered. In place of a wide field CCD camera in the initial stage of laser…
This paper proposes an integrated framework for coordinating multiple unmanned aerial vehicles (UAVs) in a distributed manner to persistently enclose and track a moving target without relying on external localization systems. The proposed…
A key challenge for starshades is formation flying. To successfully image exoplanets, the telescope boresight and starshade must be aligned to ~1 m at separations of tens of thousands of kilometers. This challenge has two parts: first, the…
Search and rescue (SAR) operations require rapid responses to save lives or property. Unmanned Aerial Vehicles (UAVs) equipped with vision-based systems support these missions through prior terrain investigation or real-time assistance…
This paper investigates the problem of continuous attitude estimation on $SO(3)$ using continuous angular velocity and linear acceleration measurements as well as intermittent linear velocity and inertial vector measurements. First, we…
Learning self-supervised representations that are invariant and equivariant to transformations is crucial for advancing beyond traditional visual classification tasks. However, many methods rely on predictor architectures to encode…
Object tracking has been broadly applied in unmanned aerial vehicle (UAV) tasks in recent years. However, existing algorithms still face difficulties such as partial occlusion, clutter background, and other challenging visual factors.…
This paper considers the problem of visual-inertial sensor fusion in the cooperative case and it provides new theoretical contributions, which regard its observability and its resolvability in closed form. The case of two agents is…
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…
Recently, 3D object detection has attracted significant attention and achieved continuous improvement in real road scenarios. The environmental information is collected from a single sensor or multi-sensor fusion to detect interested…
Anticipation problem has been studied considering different aspects such as predicting humans' locations, predicting hands and objects trajectories, and forecasting actions and human-object interactions. In this paper, we studied the…