Related papers: Complementary Filtering on SO(3) for Attitude Esti…

This paper deals with the design of globally exponentially stable invariant observers on the Special Euclidian group SE(3). First, we propose a generic hybrid observer scheme (depending on a generic potential function) evolving on…

We address the problem of epipolar geometry using the motion of silhouettes. Such methods match epipolar lines or frontier points across views, which are then used as the set of putative correspondences. We introduce an approach that…

In this paper, we design a nonlinear observer to estimate the inertial pose and the velocity of a free-floating non-cooperative satellite (Target) using only relative pose measurements. In the context of control design for orbital robotic…

In this note, the attitude and inertial sensors drift biases estimation for Strapdown inertial navigation system is investigated. A semi-analytic method is proposed, which contains two interlaced solution procedures. Specifically, the…

In this paper, we analyze the orientation estimation problem using inertial measurement units. Many estimation algorithms suffer degraded performance when accelerations other than gravity affect the accelerometer. We show that linear…

This paper presents a novel passivity-based semi-autonomous attitude control framework, with a particular focus on attitude kinematics defined on the special orthogonal group $SO(3)$. While human-robot interaction facilitates the successful…

This work proposes a quaternion-based sliding variable that describes exponentially convergent error dynamics for any forward complete desired attitude trajectory. The proposed sliding variable directly operates on the non-Euclidean space…

Modular robots have been rising in popularity for a variety of applications, and autonomous midair docking is a necessary task for real world deployment of these robots. We present a state estimator based on the extended Kalman filter for…

The emergence of modular satellites marks a significant transformation in spacecraft engineering, introducing a new paradigm of flexibility, resilience, and scalability in space exploration endeavors. In addressing complex challenges such…

This study presents a theoretical structure for the monocular pose estimation problem using the total least squares. The unit-vector line-of-sight observations of the features are extracted from the monocular camera images. First, the…

This paper presents a structured ordinal measure method for video-based face recognition that simultaneously learns ordinal filters and structured ordinal features. The problem is posed as a non-convex integer program problem that includes…

Event cameras are an interesting visual exteroceptive sensor that reacts to brightness changes rather than integrating absolute image intensities. Owing to this design, the sensor exhibits strong performance in situations of challenging…

Temporal 3D human pose estimation from monocular videos is a challenging task in human-centered computer vision due to the depth ambiguity of 2D-to-3D lifting. To improve accuracy and address occlusion issues, inertial sensor has been…

We propose a new recursive method for simultaneous estimation of both the pose and the shape of a three-dimensional extended object. The key idea of the presented method is to represent the shape of the object using spherical harmonics,…

Attitude estimation is often a prerequisite for control of the attitude or orientation of mechanical systems. Current attitude estimation algorithms use coordinate representations for the group of rigid body orientations. All coordinate…

We study two sensor assignment problems for multi-target tracking with the goal of improving the observability of the underlying estimator. In the restricted version of the problem, we focus on assigning unique pairs of sensors to each…

This paper proposes a dynamic analytical initialization method for spacecraft attitude estimators. In the proposed method, the desired attitude matrix is decomposed into two parts: one is the constant attitude matrix at the very start and…

This paper introduces a new approach for output feedback stabilization of SISO systems which, unlike most of the techniques found in the literature, does not use high-gain observers and control input saturation to achieve separation between…

Existing approaches to robust global asymptotic stabilization of a pair of antipodal points on unit $n$-sphere $\mathbb{S}^n$ typically involve the non-centrally synergistic hybrid controllers for attitude tracking on unit quaternion space.…

Retrieval of classical behaviour in quantum cosmology is usually discussed in the framework of minisuperspace models in the presence of scalar fields together with the inhomogeneous modes either of the gravitational or of the scalar fields.…