Related papers: Equivariant Filter Cascade for Relative Attitude, …
This paper proposes a dynamic analytical initialization method for spacecraft attitude estimators. In the proposed method, the desired attitude matrix is decomposed into two parts: one is the constant attitude matrix at the very start and…
The robustness and accuracy of a vision system for motion estimation of a tumbling target satellite are enhanced by an adaptive Kalman filter. This allows a vision-guided robot to complete the grasping of the target even if occlusion occurs…
This paper addresses the localization problem. The extended Kalman filter (EKF) is employed to localize a unicycle-like mobile robot equipped with a laser range finder (LRF) sensor and an omni-directional camera. The LRF is used to scan the…
This paper presents an Extended Kalman Filter (EKF) approach to localize a mobile robot with two quadrature encoders, a compass sensor, a laser range finder (LRF) and an omni-directional camera. The prediction step is performed by employing…
This paper presents theory, application, and comparisons of the feedback particle filter (FPF) algorithm for the problem of attitude estimation. The paper builds upon our recent work on the exact FPF solution of the continuous-time…
In real-world applications the Perspective-n-Point (PnP) problem should generally be applied in a sequence of images which a set of drift-prone features are tracked over time. In this paper, we consider both the temporal dependency of…
Attitude estimation using scalar measurements, corresponding to partial vectorial observations, arises naturally when inertial vectors are not fully observed but only measured along specific body-frame vectors. Such measurements arise in…
Multiple-stage adaptive architectures are conceived to face with the problem of target detection buried in noise, clutter, and intentional interference. First, a scenario where the radar system is under the electronic attack of noise-like…
Cross-view geo-localization is the problem of estimating the position and orientation (latitude, longitude and azimuth angle) of a camera at ground level given a large-scale database of geo-tagged aerial (e.g., satellite) images. Existing…
Air-bearing platforms for simulating the rotational dynamics of satellites require highly precise ground truth systems. Unfortunately, commercial motion capture systems used for this scope are complex and expensive. This paper shows a novel…
The Discriminative Correlation Filter (CF) uses a circulant convolution operation to provide several training samples for the design of a classifier that can distinguish the target from the background. The filter design may be interfered by…
Inconsistency issue is one crucial challenge for the performance of extended Kalman filter (EKF) based methods for state estimation problems, which is mainly affected by the discrepancy of observability between the EKF model and the…
Two nonlinear observers for velocity-aided attitude estimation, relying on gyrometers, accelerometers, magnetometers, and velocity measured in the body-fixed frame, are proposed. As opposed to state-of-the-art body-fixed velocity-aided…
We study the task of establishing object-level visual correspondence across different viewpoints in videos, focusing on the challenging egocentric-to-exocentric and exocentric-to-egocentric scenarios. We propose a simple yet effective…
Face alignment, which is the task of finding the locations of a set of facial landmark points in an image of a face, is useful in widespread application areas. Face alignment is particularly challenging when there are large variations in…
We propose a new cascaded regressor for eye center detection. Previous methods start from a face or an eye detector and use either advanced features or powerful regressors for eye center localization, but not both. Instead, we detect the…
The spatial variation of the colour of a galaxy may introduce a bias in the measurement of its shape if the PSF profile depends on wavelength. We study how this bias depends on the properties of the PSF and the galaxies themselves. The bias…
Worldwide image geolocalization-the task of predicting GPS coordinates from images taken anywhere on Earth-poses a fundamental challenge due to the vast diversity in visual content across regions. While recent approaches adopt a two-stage…
The Extended Kalman Filter (EKF) is both the historical algorithm for multi-sensor fusion and still state of the art in numerous industrial applications. However, it may prove inconsistent in the presence of unobservability under a group of…
In many machine learning tasks it is desirable that a model's prediction transforms in an equivariant way under transformations of its input. Convolutional neural networks (CNNs) implement translational equivariance by construction; for…