Related papers: Finite-time Stable Pose Estimation on TSE(3) using…
Developing high-performance, real-time architectures for LiDAR-based 3D object detectors is essential for the successful commercialization of autonomous vehicles. Pillar-based methods stand out as a practical choice for onboard deployment…
3D human pose estimation captures the human joint points in three-dimensional space while keeping the depth information and physical structure. That is essential for applications that require precise pose information, such as human-computer…
Accurately monitoring the system's operating point is central to the reliable and economic operation of an electric power grid. Power system state estimation (PSSE) aims to obtain complete voltage magnitude and angle information at each bus…
The Stefan PDE system is a representative model for thermal phase change phenomena, such as melting and solidification, arising in numerous science and engineering processes. The mathematical description is given by a Partial Differential…
Applications providing automated coaching for physical training are increasing in popularity, for example physical therapy. These applications rely on accurate and robust pose estimation using monocular video streams. State-of-the-art…
Recent transformer-based solutions have been introduced to estimate 3D human pose from 2D keypoint sequence by considering body joints among all frames globally to learn spatio-temporal correlation. We observe that the motions of different…
We propose a method to track the 6D pose of an object over time, while the object is under non-prehensile manipulation by a robot. At any given time during the manipulation of the object, we assume access to the robot joint controls and an…
Many existing autonomous driving paradigms involve a multi-stage discrete pipeline of tasks. To better predict the control signals and enhance user safety, an end-to-end approach that benefits from joint spatial-temporal feature learning is…
Articulated objects are prevalent in daily life and robotic manipulation tasks. However, compared to rigid objects, pose tracking for articulated objects remains an underexplored problem due to their inherent kinematic constraints. To…
Analyzing a Gross-Pitaevskii equation with cubic, quartic, and quintic nonlinearities through analytical and numerical methods, we examine the stability of two-dimensional (2D) trapless Bose-Einstein condensates (BECs) with two-, three-body…
This paper considers the problem of attitude, position and linear velocity estimation for rigid body systems relying on landmark measurements. We propose two hybrid nonlinear observers on the matrix Lie group $SE_2(3)$, leading to global…
Ensuring stable object placement is crucial to prevent objects from toppling over, breaking, or causing spills. When an object makes initial contact to a surface, and some force is exerted, the moment of rotation caused by the instability…
Robotic in-hand manipulation requires reliable object-motion tracking under frequent visual occlusion, yet low-texture visuotactile images provide few stable correspondences for conventional image- or geometry-matching methods. This paper…
This paper provides a method for obtaining a continuous-time model of a target system in closed-loop from input-output data alone, in the case where no knowledge of the controllers nor excitation signals is available and I/O data may suffer…
The goal of target tracking is to estimate target position, velocity, and acceleration in real time using position data. This paper introduces a novel target-tracking technique that uses adaptive input and state estimation (AISE) for…
In this paper, we extend the notion of finite-time input-to-state stability (FTISS) for finite-dimensional systems to infinite-dimensional systems. More specifically, we first prove an FTISS Lyapunov theorem for a class of…
This paper addresses the leader-following attitude consensus problem for a group of spacecraft when at least one follower can access the leader's attitude and velocity relative to the inertial space. A nonlinear distributed observer is…
The estimation of external joint torque and contact wrench is essential for achieving stable locomotion of humanoids and safety-oriented robots. Although the contact wrench on the foot of humanoids can be measured using a force-torque…
Inertial Navigation Systems (INS) are algorithms that fuse inertial measurements of angular velocity and specific acceleration with supplementary sensors including GNSS and magnetometers to estimate the position, velocity and attitude, or…
Walking in place for moving through virtual environments has attracted noticeable attention recently. Recent attempts focused on training a classifier to recognize certain patterns of gestures (e.g., standing, walking, etc) with the use of…