Related papers: Observability Conditions and Filter Design for Vis…
In this note, we have revisited the previously published paper "Particle Filtering for Attitude Estimation Using a Minimal Local-Error Representation". In the revisit, we point out that the quaternion particle filtering based on the…
This study presents an innovative hybrid Visual-Inertial Odometry (VIO) method for Unmanned Aerial Vehicles (UAVs) that is resilient to environmental challenges and capable of dynamically assessing sensor reliability. Built upon a loosely…
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…
Object pose estimation is a fundamental computer vision task exploited in several robotics and augmented reality applications. Many established approaches rely on predicting 2D-3D keypoint correspondences using RANSAC (Random sample…
We propose an approach to estimate the 6DOF pose of a satellite, relative to a canonical pose, from a single image. Such a problem is crucial in many space proximity operations, such as docking, debris removal, and inter-spacecraft…
One core challenge in object pose estimation is to ensure accurate and robust performance for large numbers of diverse foreground objects amidst complex background clutter. In this work, we present a scalable framework for accurately…
In real-world applications the Perspective-n-Point (PnP) problem should generally be applied in a sequence of images which a set of drift-prone features are tracked over time. In this paper, we consider both the temporal dependency of…
Cooperative suspended aerial transportation is highly susceptible to multi-source disturbances such as aerodynamic effects and thrust uncertainties. To achieve precise load manipulation, existing methods often rely on extra sensors to…
Object tracking has been broadly applied in unmanned aerial vehicle (UAV) tasks in recent years. However, existing algorithms still face difficulties such as partial occlusion, clutter background, and other challenging visual factors.…
Accurate 6-DoF pose estimation of objects is critical for robots to perform precise manipulation tasks. However, for dynamic object pose estimation, conventional camera-based approaches face several major challenges, such as motion blur,…
Mainstream Visual-inertial odometry (VIO) systems rely on point features for motion estimation and localization. However, their performance degrades in challenging scenarios. Moreover, the localization accuracy of multi-state constraint…
Accurate 6D object pose estimation is vital for robotics, augmented reality, and scene understanding. For seen objects, high accuracy is often attainable via per-object fine-tuning but generalizing to unseen objects remains a challenge. To…
The issue of single range based observability analysis and observer design for the kinematics model of a 3D vehicle subject to a constant unknown drift velocity is addressed. The proposed method departs from alternative solutions to the…
Inferring the 6DoF pose of an object from a single RGB image is an important but challenging task, especially under heavy occlusion. While recent approaches improve upon the two stage approaches by training an end-to-end pipeline, they do…
This paper addresses the problem of estimating the position of an object moving in $R^n$ from direction and velocity measurements. After addressing observability issues associated with this problem, a nonlinear observer is designed so as to…
In this work, we present an approach for monocular hand-eye calibration from per-sensor ego-motion based on dual quaternions. Due to non-metrically scaled translations of monocular odometry, a scaling factor has to be estimated in addition…
Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailable. In many visual navigation systems, localization is…
One of the crucial problems in visual tracking is how the object is represented. Conventional appearance-based trackers are using increasingly more complex features in order to be robust. However, complex representations typically not only…
Target tracking has numerous significant civilian and military applications, and maintaining the visibility of the target plays a vital role in ensuring the success of the tracking task. Existing visibility-aware planners primarily focus on…
Monocular visual-inertial odometry (VIO) is a critical problem in robotics and autonomous driving. Traditional methods solve this problem based on filtering or optimization. While being fully interpretable, they rely on manual interference…