Related papers: Equivariant Filter Cascade for Relative Attitude, …
Galaxy redshift surveys can be used to detect gravitationally-lensed quasars if the spectra obtained are searched for the quasars' emission lines. Previous investigations of this possibility have used simple models to show that the 2 degree…
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…
The manifold extended Kalman filter (Manifold EKF) has found extensive application for attitude determination. Magnetometers employed as sensors for such attitude determination are easily prone to disturbances by their sensitivity to…
This paper presents a novel cascade nonlinear observer framework for inertial state estimation. It tackles the problem of intermediate state estimation when external localization is unavailable or in the event of a sensor outage. The…
In this paper, we propose a novel structural correlation filter combined with a multi-task Gaussian particle filter (KCF-GPF) model for robust visual tracking. We first present an assemble structure where several KCF trackers as weak…
Traditional framework of discriminative correlation filters (DCF) is often subject to undesired boundary effects. Several approaches to enlarge search regions have been already proposed in the past years to make up for this shortcoming.…
Autonomous surface vessels (ASVs) are increasingly vital for marine science, offering robust platforms for underwater mapping and inspection. Accurate state estimation, particularly of vehicle pose, is paramount for precise seafloor…
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…
We propose an observer for rotational dynamics subject to directional and gyroscopic measurements, which simultaneously estimates the gyroscopic biases and attitude rates. We show uniform almost global asymptotic and local exponential…
The collaborative visual perception of multiple Unmanned Aerial Vehicles (UAVs) has increasingly become a research hotspot. Compared to a single UAV equipped with a short-baseline stereo camera, multi-UAV collaborative vision offers a wide…
This letter re-visits the problem of visual-inertial navigation system (VINS) and presents a novel filter design we dub the multi state constraint equivariant filter (MSCEqF, in analogy to the well known MSCKF). We define a symmetry group…
Accurate pose and velocity estimation is essential for effective spatial task planning in robotic manipulators. While centralized sensor fusion has traditionally been used to improve pose estimation accuracy, this paper presents a novel…
Shape completion, a crucial task in 3D computer vision, involves predicting and filling the missing regions of scanned or partially observed objects. Current methods expect known pose or canonical coordinates and do not perform well under…
We investigate methods to calibrate the non-common path aberrations at an adaptive optics system having a wavefront-correcting device working at an extremely high resolution (larger than 150x150). We use focal-plane images collected…
The main contribution of this paper is an invariant extended Kalman filter (EKF) for visual inertial navigation systems (VINS). It is demonstrated that the conventional EKF based VINS is not invariant under the stochastic unobservable…
Rotation-equivariance is an essential yet challenging property in oriented object detection. While general object detectors naturally leverage robustness to spatial shifts due to the translation-equivariance of the conventional CNNs,…
We propose a novel end-to-end method for cross-view pose estimation. Given a ground-level query image and an aerial image that covers the query's local neighborhood, the 3 Degrees-of-Freedom camera pose of the query is estimated by matching…
This paper considers the use of two position receivers and an inertial measurement unit (IMU) to estimate the position, velocity, and attitude of a rigid body, collectively called extended pose. The measurement model consisting of the…
Animals with foveated vision, including humans, experience microsaccades, small, rapid eye movements that they are not aware of. Inspired by this phenomenon, we develop a method for "Artificial Microsaccade Compensation". It can stabilize…
Face alignment is an active topic in computer vision, consisting in aligning a shape model on the face. To this end, most modern approaches refine the shape in a cascaded manner, starting from an initial guess. Those shape updates can…