Related papers: Dual Quaternion SE(3) Synchronization with Recover…
In synchronization problems, the goal is to estimate elements of a group from noisy measurements of their ratios. A popular estimation method for synchronization is the spectral method. It extracts the group elements from eigenvectors of a…
This paper presents a novel nonlinear pose filter evolved directly on the Special Euclidean Group SE(3) with guaranteed characteristics of transient and steady-state performance. The above-mention characteristics can be achieved by trapping…
Many important geometric estimation problems take the form of synchronization over the special Euclidean group: estimate the values of a set of poses given a set of relative measurements between them. This problem is typically formulated as…
Many geometric estimation problems take the form of synchronization over the special Euclidean group: estimate the values of a set of poses given noisy measurements of a subset of their pairwise relative transforms. This problem is…
Two novel nonlinear pose (i.e, attitude and position) filters developed directly on the Special Euclidean Group SE(3)able to guarantee prescribed characteristics of transient and steady-state performance are proposed. The position error and…
This paper proposes two novel nonlinear attitude filters evolved directly on the Special Orthogonal Group SO(3) able to ensure prescribed measures of transient and steady-state performance. The tracking performance of the normalized…
Group synchronization asks to recover group elements from their pairwise measurements. It has found numerous applications across various scientific disciplines. In this work, we focus on orthogonal and permutation group synchronization…
The main aim of this paper is to study quaternion phase retrieval (QPR), i.e., the recovery of quaternion signal from the magnitude of quaternion linear measurements. We show that all $d$-dimensional quaternion signals can be reconstructed…
The synchronization problem over the special orthogonal group $SO(d)$ consists of estimating a set of unknown rotations $R_1,R_2,...,R_n$ from noisy measurements of a subset of their pairwise ratios $R_{i}^{-1}R_{j}$. The problem has found…
Linear Parameter Varying Dynamical Systems (LPV-DS) encode trajectories into an autonomous first-order DS that enables reactive responses to perturbations, while ensuring globally asymptotic stability at the target. However, the current…
The deformed energy method has shown to be a good option for dimensional synthesis of mechanisms. In this paper the introduction of some new features to such approach is proposed. First, constraints fixing dimensions of certain links are…
The hand-eye calibration problem is an important application problem in robot research. Based on the 2-norm of dual quaternion vectors, we propose a new dual quaternion optimization method for the hand-eye calibration problem. The dual…
This paper investigates the eigenvalue computation problem of the dual quaternion Hermitian matrix closely related to multi-agent group control. Recently, power method was proposed by Cui and Qi in Journal of Scientific Computing, 100…
The completion of a Euclidean distance matrix (EDM) from sparse and noisy observations is a fundamental challenge in signal processing, with applications in sensor network localization, acoustic room reconstruction, molecular conformation,…
Given the noisy pairwise measurements among a set of unknown group elements, how to recover them efficiently and robustly? This problem, known as group synchronization, has drawn tremendous attention in the scientific community. In this…
The problem of synchronization over a group $\mathcal{G}$ aims to estimate a collection of group elements $G^*_1, \dots, G^*_n \in \mathcal{G}$ based on noisy observations of a subset of all pairwise ratios of the form $G^*_i {G^*_j}^{-1}$.…
Permutation synchronization is an important problem in computer science that constitutes the key step of many computer vision tasks. The goal is to recover $n$ latent permutations from their noisy and incomplete pairwise measurements. In…
Transformation Synchronization is the problem of recovering absolute transformations from a given set of pairwise relative motions. Despite its usefulness, the problem remains challenging due to the influences from noisy and outlier…
We introduce a symplectic dual quaternion variational integrator(DQVI) for simulating single rigid body motion in all six degrees of freedom. Dual quaternion is used to represent rigid body kinematics and one-step Lie group variational…
This paper proposes a control algorithm for stable implementation of asynchronous parallel quadratic programming (PQP) through dual decomposition technique. In general, distributed and parallel optimization requires synchronization of data…