Related papers: Finite-time Stable Pose Estimation on TSE(3) using…
3D Human body pose and shape estimation within a temporal sequence can be quite critical for understanding human behavior. Despite the significant progress in human pose estimation in the recent years, which are often based on single images…
We analyze stochastic partial differential equations (SPDEs) with quadratic nonlinearities close to a change of stability. To this aim we compute finite-time Lyapunov exponents (FTLEs), observing a change of sign based on the interplay…
In this work we solve the position-aided 3D navigation problem using a nonlinear estimation scheme. More precisely, we propose a nonlinear observer to estimate the full state of the vehicle (position, velocity, orientation and gyro bias)…
Visual localization has become a key enabling component of many place recognition and SLAM systems. Contemporary research has primarily focused on improving accuracy and precision-recall type metrics, with relatively little attention paid…
Head pose estimation is a challenging task that aims to solve problems related to predicting three dimensions vector, that serves for many applications in human-robot interaction or customer behavior. Previous researches have proposed some…
What if our clothes could capture our body motion accurately? This paper introduces Flexible Inertial Poser (FIP), a novel motion-capturing system using daily garments with two elbow-attached flex sensors and four Inertial Measurement Units…
Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…
Monocular 3D human pose estimation (HPE) methods estimate the 3D positions of joints from individual images. Existing 3D HPE approaches often use the cropped image alone as input for their models. However, the relative depths of joints…
In this thesis, we address the problem of estimating the 6D pose of rigid objects from a single RGB or RGB-D input image, assuming that 3D models of the objects are available. This problem is of great importance to many application fields…
Monocular 3D pose estimation is fundamentally ill-posed due to depth ambiguity and occlusions, thereby motivating probabilistic methods that generate multiple plausible 3D pose hypotheses. In particular, diffusion-based models have recently…
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…
This letter presents a shifted passivity analysis of the single-machine infinite-bus system in the stationary ($\alpha\beta$) reference frame. We study the attractivity of a periodic synchronous steady state with constant rotor frequency…
This paper presents a novel 3DOF pedestrian trajectory prediction approach for autonomous mobile service robots. While most previously reported methods are based on learning of 2D positions in monocular camera images, our approach uses…
Event-based cameras capture visual information as asynchronous streams of per-pixel brightness changes, generating sparse, temporally precise data. Compared to conventional frame-based sensors, they offer significant advantages in capturing…
When solving the time-dependent radiative transport equation (RTE), implicit time discretization is often employed for its robustness and stability. This results in a sequence of steady-state RTEs with identical cross-sections but varying…
This paper introduces two novel nonlinear stochastic attitude estimators developed on the Special Orthogonal Group \mathbb{SO}\left(3\right) with the tracking error of the normalized Euclidean distance meeting predefined transient and…
We present a new Partial Integral Equation (PIE) representation of Partial Differential Equations (PDEs) in which it is possible to use convex optimization to perform stability analysis with little or no conservatism. The first result gives…
The paper studies a geometrically unfitted finite element method (FEM), known as trace FEM or cut FEM, for the numerical solution of the Stokes system posed on a closed smooth surface. A trace FEM based on standard Taylor-Hood (continuous…
Reliable manipulation of previously unseen objects remains a fundamental challenge for autonomous robotic systems operating in unstructured environments. In particular, robust pick-and-place planning directly from noisy and only partial…
When humans observe a physical system, they can easily locate objects, understand their interactions, and anticipate future behavior, even in settings with complicated and previously unseen interactions. For computers, however, learning…