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Bayesian curve fitting plays an important role in inverse problems, and is often addressed using the Reversible Jump Markov Chain Monte Carlo (RJMCMC) algorithm. However, this algorithm can be computationally inefficient without…
A framework for tightly integrated motion mode classification and state estimation in motion-constrained inertial navigation systems is presented. The framework uses a jump Markov model to describe the navigation system's motion mode and…
State estimation is challenging for 3D object tracking with high maneuverability, as the target's state transition function changes rapidly, irregularly, and is unknown to the estimator. Existing work based on interacting multiple model…
Video-based human movement analysis holds potential for movement assessment in clinical practice and research. However, the clinical implementation and trust of multi-view markerless motion capture (MMMC) require that, in addition to being…
The ever-growing popularity of Kinect and inertial sensors has prompted intensive research efforts on human action recognition. Since human actions can be characterized by multiple feature representations extracted from Kinect and inertial…
Small-sized unmanned aerial vehicles (UAVs) have been widely investigated for use in a variety of applications such as remote sensing and aerial surveying. Direct three-dimensional (3D) mapping using a small-sized UAV equipped with a laser…
Multi-object tracking (MOT) from unmanned aerial vehicles (UAVs) presents unique challenges due to unpredictable object motion, frequent occlusions, and limited appearance cues inherent to aerial viewpoints. These issues are further…
This paper describes a novel method for the estimation of the trajectory curve and orientation of a rigid body moving along a railway track. Compared to other recent developments in the literature, the presented approach has the significant…
The star tracker is generally affected by the atmospheric background light and the aerodynamic environment when working in near space, which results in missing stars or false stars. Moreover, high-speed maneuvering may cause star trailing,…
Global Positioning System (GPS) and inertial measurement unit (IMU) sensors are commonly integrated using the extended Kalman filter (EKF), for achieving better navigation performance. However, because of nonlinearity, the performance of…
Optical navigation on a CubeSat must rely on the best extraction of the directions of some beacons from on-board images. We present an experiment on OPS-SAT, a CubeSat of the European Space Agency (ESA), that will characterize an onboard…
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…
Accurate and high-resolution precipitation nowcasting from radar echo sequences is crucial for disaster mitigation and economic planning, yet it remains a significant challenge. Key difficulties include modeling complex multi-scale…
Very-low-Earth orbit drag uncertainty quantification in the rarefied/transitional Knudsen-number regime requires estimating not only the mean drag coefficient but also higher-order moments under atmospheric variability, which becomes…
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…
In this paper, a position and velocity estimation method for robotic manipulators which are affected by constant bounded disturbances is considered. The tracking control problem is formulated as a disturbance rejection problem, with all the…
This work introduces two lightweight model predictive control (MPC) approaches for attitude tracking with reaction wheels during spacecraft rendezvous synchronization. Both approaches are based on a novel attitude deviation formulation,…
Fitting parameterized models to images of galaxies has become the standard for measuring galaxy morphology. This forward modelling technique allows one to account for the PSF to effectively study semi-resolved galaxies. However, using a…
Accurate estimation of the relative attitude and angular velocity between two rigid bodies is fundamental in aerospace applications such as spacecraft rendezvous and docking. In these scenarios, a chaser vehicle must determine the…
Spaceborne gravity gradients are proposed in this paper to provide autonomous orbit determination capabilities for near Earth satellites. The gravity gradients contain useful position information which can be extracted by matching the…