Related papers: Observability Conditions and Filter Design for Vis…
This paper revisits the problem of orientation estimation for rigid bodies through a novel framework based on scalar measurements. Unlike traditional vector-based methods, the proposed approach enables selective utilization of only the…
Accurate and robust relative pose estimation is crucial for enabling challenging Active Debris Removal (ADR) missions targeting tumbling derelict satellites such as ESA's ENVISAT. This work presents a complete pipeline integrating advanced…
Perspective-n-Point-and-Line (P$n$PL) algorithms aim at fast, accurate, and robust camera localization with respect to a 3D model from 2D-3D feature correspondences, being a major part of modern robotic and AR/VR systems. Current…
Most of existing correlation filter-based tracking approaches only estimate simple axis-aligned bounding boxes, and very few of them is capable of recovering the underlying similarity transformation. To tackle this challenging problem, in…
This paper addresses the challenge of probabilistic parameter estimation given measurement uncertainty in real-time. We provide a general formulation and apply this to pose estimation for an autonomous visual landing system. We present…
Attitude estimation using scalar measurements, corresponding to partial vectorial observations, arises naturally when inertial vectors are not fully observed but only measured along specific body-frame vectors. Such measurements arise in…
Nonlinear observer design for systems whose state space evolves on Lie groups is considered. The proposed method is similar to previously developed nonlinear observers in that it involves propagating the state estimate using a process model…
In this paper, we first present a bias-eliminated weighted (Bias-Eli-W) perspective-n-point (PnP) estimator for stereo visual odometry (VO) with provable consistency. Specifically, leveraging statistical theory, we develop an asymptotically…
Object triangulation, 3-D object tracking, feature correspondence, and camera calibration are key problems for estimation from camera networks. This paper addresses these problems within a unified Bayesian framework for joint multi-object…
The goal of the proposed method is to directly obtain a pose matrix of a known rectangular target, without estimation, using geometric techniques. This method is specifically tailored for real-time, extreme imaging setups exceeding…
Vision based localization is a popular approach to carry out manoeuvres particularly in GPS-restricted indoor environments, because vision can complement other activities performed by the robot. The objective is to estimate the current…
Due to the advantages of high computational efficiency and small memory requirements, filter-based visual inertial odometry (VIO) has a good application prospect in miniaturized and payload-constrained embedded systems. However, the…
Blind Perspective-n-Point (PnP) is the problem of estimating the position and orientation of a camera relative to a scene, given 2D image points and 3D scene points, without prior knowledge of the 2D-3D correspondences. Solving for pose and…
Autonomous Nano Aerial Vehicles have been increasingly popular in surveillance and monitoring operations due to their efficiency and maneuverability. Once a target location has been reached, drones do not have to remain active during the…
The paper focuses on the problem of vision-based obstacle detection and tracking for unmanned aerial vehicle navigation. A real-time object localization and tracking strategy from monocular image sequences is developed by effectively…
This paper investigates the orientation, position, and linear velocity estimation problem of a rigid-body moving in three-dimensional (3D) space with six degrees-of-freedom (6 DoF). The highly nonlinear navigation kinematics are formulated…
This paper presents a novel filter with low computational demand to address the problem of orientation estimation of a robotic platform. This is conventionally addressed by extended Kalman filtering of measurements from a sensor suit which…
A novel single-frame quaternion estimator processing two vector observations is introduced. The singular cases are examined, and appropriate rotational solutions are provided. Additionally, an alternative method involving sequential…
Learning model-free object pose estimation for unseen instances remains a fundamental challenge in 3D vision. Existing methods typically fall into two disjoint paradigms: category-level approaches predict absolute poses in a canonical space…
Successful navigation of a rigid-body traveling with six degrees of freedom (6 DoF) requires accurate estimation of attitude , position, and linear velocity. The true navigation dynamics are highly nonlinear and are modeled on the matrix…