Related papers: Equivariant Filter Cascade for Relative Attitude, …
Visual-Inertial Odometry (VIO) is the problem of estimating a robot's trajectory by combining information from an inertial measurement unit (IMU) and a camera, and is of great interest to the robotics community. This paper develops a novel…
Accurate relative state observation of Unmanned Underwater Vehicles (UUVs) for tracking uncooperative targets remains a significant challenge due to the absence of GPS, complex underwater dynamics, and sensor limitations. Existing…
Random stepped frequency (RSF) radar, which transmits random-frequency pulses, can suppress the range ambiguity, improve convert detection, and possess excellent electronic counter-countermeasures (ECCM) ability [1]. In this paper, we apply…
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…
Vision based localization is a popular approach to carry out manoeuvres particularly in GPS-restricted indoor environments, because vision can complement other activities performed by the robot. The objective is to estimate the current…
Many Inertial Navigation Systems (INS) use Global Navigation Satellite System (GNSS) position as the primary measurement to drive filter performance and bound error growth. However, commercial-grade GNSS receivers introduce unknown…
Terrain relative navigation can improve the precision of a spacecraft's position estimate by detecting global features that act as supplementary measurements to correct for drift in the inertial navigation system. This paper presents a…
This paper proposes a discrete-time geometric attitude observer for fusing monocular vision with GPS velocity measurements. The observer takes the relative transformations obtained from processing monocular images with any visual odometry…
Accurate and robust attitude estimation is a central challenge for autonomous vehicles operating in GNSS-denied or highly dynamic environments. In such cases, Inertial Measurement Units (IMUs) alone are insufficient for reliable tilt…
Recent quasar spectroscopy from the VLT and Keck telescopes suggests that fundamental constants may not actually be constant. To better confirm or refute this result, systematic errors between telescopes must be minimized. We present a new…
It has been shown that equivariant convolution is very helpful for many types of computer vision tasks. Recently, the 2D filter parametrization technique plays an important role when designing equivariant convolutions. However, the current…
The gravitational field of a galaxy can act as a lens and deflect the light emitted by a more distant object such as a quasar. Strong gravitational lensing causes multiple images of the same quasar to appear in the sky. Since the light in…
Recent researches attempt to improve the detection performance by adopting the idea of cascade for single-stage detectors. In this paper, we analyze and discover that inconsistency is the major factor limiting the performance. The refined…
This paper derives a contact-aided inertial navigation observer for a 3D bipedal robot using the theory of invariant observer design. Aided inertial navigation is fundamentally a nonlinear observer design problem; thus, current solutions…
Natural disasters, such as hurricanes and typhoons, pose significant challenges to public safety and infrastructure. While government agencies rely on multi million dollar UAV systems for storm data collection and disaster response, smaller…
This study introduces a novel methodology for controlling Quadrotor Unmanned Aerial Vehicles, focusing on Hierarchical Sliding Mode Control strategies and an Extended Kalman Filter. Initially, an EKF is proposed to enhance robustness in…
This paper focuses on the attitude pointing control problem under pointing-forbidden constraints and performance constraints. The spacecraft is expected to align its sensor's boresight to a desired direction, while the terminal control…
This work presents a fast, uncertainty-aware sequential data assimilation framework for estimating key aerodynamic states (e.g., instantaneous vorticity fields and aerodynamic loads) during severe gust encounters, where vortex-gust…
This work presents a closed-loop guidance algorithm for six-degrees of freedom spacecraft rendezvous with a passive target flying in an eccentric orbit. The main assumption is that the chaser vehicle has an attitude control system, based on…
The scientific impact of GW170817 strongly supports the need for an efficient electromagnetic follow-up campaign to gravitational-wave event candidates. The success of such campaigns depends critically on a fast and accurate localization of…