Related papers: Equivariant Filter Cascade for Relative Attitude, …
Simulating collisions of deformable objects is a fundamental yet challenging task due to the complexity of modeling solid mechanics and multi-body interactions. Existing data-driven methods often suffer from lack of equivariance to physical…
Direct imaging of exoplanets requires very high contrast levels, which are obtained using coronagraphs. But residual quasi-static aberrations create speckles in the focal plane downstream of the coronagraph which mask the planet. This…
Quadcopter attitude control involves two tasks: smooth attitude tracking and aggressive stabilization from arbitrary states. Although both can be formulated as tracking problems, their distinct state spaces and control strategies complicate…
The ensemble random forest filter (ERFF) is presented as an alternative to the ensemble Kalman filter (EnKF) for the purpose of inverse modeling. The EnKF is a data assimilation approach that forecasts and updates parameter estimates…
A cooperative circumnavigation framework is proposed for multi-quadrotor systems to enclose and track a moving target without reliance on external localization systems. The distinct relationships between quadrotor-quadrotor and…
In this paper, we study the problem of reverse image filtering. An image filter denoted g(.), which is available as a black box, produces an observation b = g(x) when provided with an input x. The problem is to estimate the original input…
This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators. The robot equipped with tactile sensors on the…
Practical Bayes filters often assume the state distribution of each time step to be Gaussian for computational tractability, resulting in the so-called Gaussian filters. When facing nonlinear systems, Gaussian filters such as extended…
The Kepler spacecraft is currently unable to hold a steady pointing and it is slowly drifting during observations. We believe that if one has to deal with targets that drift across the CCDs, one should at least be able to track the targets…
Over the past decade, the high-contrast observation of disks and gas giant planets around nearby stars has been made possible on ground-based instruments using extreme adaptive optics (XAO). While these facilities produce images with a…
Correlation filter (CF) based tracking algorithms have demonstrated favorable performance recently. Nevertheless, the top performance trackers always employ complicated optimization methods which constraint their real-time applications. How…
This paper addresses the attitude tracking of a rigid body using a quaternion description. Global finite-time attitude controllers are designed with three types of measurements, namely, full states, attitude plus constant-biased angular…
A binocular system developed by the author in terms of projective Fourier transform (PFT) of the conformal camera, which numerically integrates the head, eyes, and visual cortex, is used to process visual information during saccadic eye…
In this paper, a distributed dual-quaternion multiplicative extended Kalman filter for the estimation of poses and velocities of individual satellites in a fleet of spacecraft is analyzed. The proposed algorithm uses both absolute and…
Human pose estimation plays an important role in many computer vision tasks and has been studied for many decades. However, due to complex appearance variations from poses, illuminations, occlusions and low resolutions, it still remains a…
Eye movements are a behavioral response that can be involved in tasks as complicated as natural image classification. This report confirms that pro- and anti-saccades can be used by a volunteer to designate target (animal) or non-target…
The hand-eye measurements have recently been proven to be very efficient for spacecraft attitude determination relative to an ellipsoidal asteroid. However, recent method does not guarantee full attitude observability for all conditions.…
Visual object tracking is one of the major challenges in the field of computer vision. Correlation Filter (CF) trackers are one of the most widely used categories in tracking. Though numerous tracking algorithms based on CFs are available…
For imaging faint exoplanets and disks, a coronagraph-equipped observatory needs focal plane wavefront correction to recover high contrast. The most efficient correction methods iteratively estimate the stellar electric field and suppress…
This paper proposes the geometric relationship of epipolar geometry and orientation- and scale-covariant, e.g., SIFT, features. We derive a new linear constraint relating the unknown elements of the fundamental matrix and the orientation…