Related papers: Finite-time Stable Pose Estimation on TSE(3) using…
Human Pose Estimation (HPE) based on RGB images has experienced a rapid development benefiting from deep learning. However, event-based HPE has not been fully studied, which remains great potential for applications in extreme scenes and…
We present a uniformly globally exponentially stable hybrid angular velocity observer for rigid body systems designed directly on $SO(3)\times\mathbb{R}^3$. The global exponential stability result makes this observer a good candidate for a…
Accurate transformation estimation between camera space and robot space is essential. Traditional methods using markers for hand-eye calibration require offline image collection, limiting their suitability for online self-calibration.…
Over the past decade, Finite Element Method (FEM) has served as a foundational numerical framework for approximating the terms of Time Series Expansion (TSE) as solutions to transient Partial Differential Equation (PDE). However, the…
In the context of control of smart structures, we present an approach for state estimation of adaptive buildings with active load-bearing elements. For obtaining information on structural deformation, a system composed of a digital camera…
Human pose estimation in videos remains a challenge, largely due to the reliance on extensive manual annotation of large datasets, which is expensive and labor-intensive. Furthermore, existing approaches often struggle to capture long-range…
We propose an attitude and gyro-bias estimation scheme for accelerated rigid body systems using an inertial measurement unit (IMU) and a global positioning system (GPS). The proposed scheme allows to obtain attitude estimates directly on…
Finite-time stability (FTS) of a differential equation guarantees that solutions reach a given equilibrium point in finite time, where the time of convergence depends on the initial state of the system. For traditional stability notions…
This paper presents a hybrid attitude and gyro-bias observer designed directly on the Special Orthogonal group SO(3). The proposed hybrid observer, relying on a hysteresis-based switching between two configurations, guarantees global…
Estimating position and orientation change of a mobile platform from two consecutive point clouds provided by a high-resolution sensor is a key problem in autonomous navigation. In particular, scan matching algorithms aim to find the…
Existing volumetric methods for predicting 3D human pose estimation are accurate, but computationally expensive and optimized for single time-step prediction. We present TEMPO, an efficient multi-view pose estimation model that learns a…
In this paper, the problem of assessing the Finite-Time Stability (FTS) property for general nonlinear systems is considered. First, some necessary and sufficient conditions that guarantee the FTS of general nonlinear systems are provided;…
Fiducial markers provide better-defined features than the ones naturally available in the scene. For this reason, they are widely utilized in computer vision applications where reliable pose estimation is required. Factors such as imaging…
Motion and dynamic environments, especially under challenging lighting conditions, are still an open issue for robust robotic applications. In this paper, we propose an end-to-end pipeline for real-time, low latency, 6 degrees-of-freedom…
In perioperative care, precise in-bed 3D patient pose and shape estimation (PSE) can be vital in optimizing patient positioning in preoperative planning, enabling accurate overlay of medical images for augmented reality-based surgical…
Drones estimate their position and orientation with the help of various sensors. Their data streams, that differ with respect to the sampling rate and standard deviation, need to be fused to get an accurate position and orientation…
In this paper, we study methods to estimate drivers' posture in vehicles using acceleration data of wearable sensor and conduct a field test. Recently, sensor technologies have been progressed. Solutions of safety management to analyze…
Accurate 3D human pose estimation (3D HPE) is crucial for enabling autonomous vehicles (AVs) to make informed decisions and respond proactively in critical road scenarios. Promising results of 3D HPE have been gained in several domains such…
Accurate power system state estimation (PSSE) is an essential prerequisite for reliable operation of power systems. Different from static PSSE, dynamic PSSE can exploit past measurements based on a dynamical state evolution model, offering…
Human pose estimation focuses on predicting body keypoints to analyze human motion. Currently, most pose estimation tasks rely on conventional RGB cameras. In contrast, event cameras provide high temporal resolution and low latency,…