相关论文: Closed-form solution to cooperative visual-inertia…

Recognizing facial activity is a well-understood (but non-trivial) computer vision problem. However, reliable solutions require a camera with a good view of the face, which is often unavailable in wearable settings. Furthermore, in wearable…

In this paper, we propose an algorithm to combine multiple cheap Inertial Measurement Unit (IMU) sensors to calculate 3D-orientations accurately. Our approach takes into account the inherent and non-negligible systematic error in the…

This work presents methods for the determination of a humanoid robot's joint velocities and accelerations directly from link-mounted Inertial Measurement Units (IMUs) each containing a three-axis gyroscope and a three-axis accelerometer. No…

This paper tackles the problem of estimating the relative position, orientation, and velocity between a UAV and a planar platform undergoing arbitrary 3D motion during approach and landing. The estimation relies on measurements from…

External collisions to robot actuators typically pose risks to grasping circular objects. This work presents a vision-based sensing module capable of detecting collisions to maintain stable grasping with a soft gripper system. The system…

This work proposes a receding horizon coverage control approach which allows multiple autonomous aerial agents to work cooperatively in order cover the total surface area of a 3D object of interest. The cooperative coverage problem which is…

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…

This paper presents hybrid attitude and gyro-bias observers designed directly on the Special Orthogonal group SO(3). The proposed hybrid observers, enjoying global exponential stability, rely on a hysteresis-based switching between…

Human action recognition is used in many applications such as video surveillance, human computer interaction, assistive living, and gaming. Many papers have appeared in the literature showing that the fusion of vision and inertial sensing…

We present a comprehensive framework for fusing measurements from multiple and generally placed accelerometers and gyroscopes to perform inertial navigation. Using the angular acceleration provided by the accelerometer array, we show that…

In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…

Accurate pose and velocity estimation is essential for effective spatial task planning in robotic manipulators. While centralized sensor fusion has traditionally been used to improve pose estimation accuracy, this paper presents a novel…

Recent advancements in UAV technology have spurred interest in developing multi-UAV aerial surveying systems for use in confined environments where GNSS signals are blocked or jammed. This paper focuses airborne magnetic surveying…

This paper investigates the problem of continuous attitude estimation on $SO(3)$ using continuous angular velocity and linear acceleration measurements as well as intermittent linear velocity and inertial vector measurements. First, we…

We propose an attitude and gyro-bias estimation scheme for accelerated rigid body systems using an inertial measurement unit (IMU) and a global positioning system (GPS). The proposed scheme allows to obtain attitude estimates directly on…

This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area…

Constant biases associated to measured linear and angular velocities of a moving object can be estimated from measurements of a static scene by embedded brightness and depth sensors. We propose here a Lyapunov-based observer taking…

We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…

Collaborative perception shares information among different agents and helps solving problems that individual agents may face, e.g., occlusions and small sensing range. Prior methods usually separate the multi-agent fusion and multi-time…

Cooperative perception is a promising technique for intelligent and connected vehicles through vehicle-to-everything (V2X) cooperation, provided that accurate pose information and relative pose transforms are available. Nevertheless,…