Related papers: Geometric Observability Index: An Operator-Theoret…
Suspended optics in gravitational wave (GW) observatories are susceptible to alignment perturbations, particularly slow drifts over time, due to variations in temperature and seismic levels. Such misalignments affect the coupling of the…
The Helioseismic and Magnetic Imager (HMI) aboard the Solar Dynamics Observatory (SDO) observes the Sun at the Fe I 6173 {\AA} line and returns full-disk maps of line-of-sight (LOS) observables including the magnetic flux density,…
Estimating relative camera poses from consecutive frames is a fundamental problem in visual odometry (VO) and simultaneous localization and mapping (SLAM), where classic methods consisting of hand-crafted features and sampling-based outlier…
This paper addresses accurate pose estimation (position, velocity, and orientation) for a rigid body using a combination of generic inertial-frame and/or body-frame measurements along with an Inertial Measurement Unit (IMU). By embedding…
This paper investigates the intrinsic geometrical features of highly similar objects and introduces a general self-supervised framework called the Geometric Attribute Exploration Network (GAEor), which is designed to address the…
We present a new learning-based framework to recover vehicle pose in SO(3) from a single RGB image. In contrast to previous works that map from local appearance to observation angles, we explore a progressive approach by extracting…
Systematic errors affecting center-of-gravity (CoG) measurements may occur from coarse sampling of the point-spread-function (PSF) or from signal truncation at the boundaries of the region-of-interest (ROI). For small ROI and PSF widths,…
Early-stage degradation in oscillatory systems often manifests as geometric distortions of the dynamics, such as phase jitter, frequency drift, or loss of coherence, long before changes in signal energy are detectable. In this regime,…
This paper develops a fault detection and identification (FDI) method for nonlinear control-affine systems under simultaneous actuator and sensor faults. We adopt a geometric approach to study the isolability of faults in the sense of the…
Context. The GRAVITY+ upgrade implies a complete renewal of its adaptive optics (AO) systems. Its complex design, featuring moving components between the deformable mirrors and the wavefront sensors, requires the monitoring and…
This paper concerns the estimation problem of attitude, position, and linear velocity of a rigid-body autonomously navigating with six degrees of freedom (6 DoF). The navigation dynamics are highly nonlinear and are modeled on the matrix…
Successful control of a rigid-body rotating in three dimensional space requires accurate estimation of its attitude. The attitude dynamics are highly nonlinear and are posed on the Special Orthogonal Group $SO(3)$. In addition, measurements…
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…
This paper presents a dual quaternion framework for 6-DOF visual target tracking that addresses key limitations of perspective-n-point (P$n$P) solvers: sensitivity to noise and outliers, and inability to propagate estimates through…
Camera motion estimation from observed scene features is an important task in image processing to increase the accuracy of many methods, e.g. optical flow and structure-from-motion. Due to the curved geometry of the state space SE(3) and…
Observations in quantum weak measurements are determined by complex numbers called weak values. We present a geometrical interpretation of the argument of weak values of general Hermitian observables in $N$-dimensional quantum systems in…
In this paper, a novel graph-theoretic framework is proposed to generalize the analysis of a broad set of security attacks, including observability and data injection attacks, that target the state estimator of a smart grid. First, the…
Imaging systems are represented as linear operators, and their singular value spectra describe the structure recoverable at the operator level. Building on an operator-based information-theoretic framework, this paper introduces a minimal…
We consider the standard problem of observational astronomy, i.e. the observations of light emission from a distant region of spacetime in general relativity. The goal is to describe the changes between the measurements of the light…
We extract four geometric observables -- Berry Phase Rate, Spectral Entropy, Reduced State Purity, and Hamiltonian Sensitivity -- from a learned spectral embedding of equity-index returns and evaluate them as regime-shift detectors against…