相关论文: Unified Attitude Determination Problem from Vector…

In this paper a review is presented of the research on eye gaze estimation techniques and applications, that has progressed in diverse ways over the past two decades. Several generic eye gaze use-cases are identified: desktop, TV,…

Tetrahedral configurations of spacecraft on unperturbed heliocentric orbits allow for highly precise observations of small spatial changes in the gravitational field, especially those affecting the gravity gradient tensor (GGT). The…

Star trackers are primarily optical devices that are used to estimate the attitude of a spacecraft by recognising and tracking star patterns. Currently, most star trackers use conventional optical sensors. In this application paper, we…

This study investigates the application of modern control theory to improve the precision of spacecraft orbit maneuvers in low Earth orbit under the influence of solar radiation pressure. A full order observer based feedback control…

Initial orbit determination (IOD) from line-of-sight (i.e., bearing) measurements is a classical problem in astrodynamics. Indeed, there are many well-established methods for performing the IOD task when given three line-of-sight…

In the research of the impact of gestures using by a lecturer, one challenging task is to infer the attention of a group of audiences. Two important measurements that can help infer the level of attention are eye movement data and…

This paper addresses the attitude tracking of a rigid body using a quaternion description. Global finite-time attitude controllers are designed with three types of measurements, namely, full states, attitude plus constant-biased angular…

Many manipulation tasks, such as placement or within-hand manipulation, require the object's pose relative to a robot hand. The task is difficult when the hand significantly occludes the object. It is especially hard for adaptive hands, for…

This paper explores the estimation of user attention in the setting of a cooperative handheld robot: a robot designed to behave as a handheld tool but that has levels of task knowledge. We use a tool-mounted gaze tracking system, which,…

This work introduces a new preprocessing step for object detection applicable to UAV bird's eye view imagery, which we call Adaptive Resizing. By design, it helps alleviate the challenges coming with the vast variances in objects' scales,…

Onboard visual sensing has been widely used in the unmanned ground vehicle (UGV) and/or unmanned aerial vehicle (UAV), which can be modeled as dynamic systems on SE(3). The onboard sensing outputs of the dynamic system can usually be…

Eye gaze controlled interfaces allow us to directly manipulate a graphical user interface just by looking at it. This technology has great potential in military aviation, in particular, operating different displays in situations where…

Optical navigation on a CubeSat must rely on the best extraction of the directions of some beacons from on-board images. We present an experiment on OPS-SAT, a CubeSat of the European Space Agency (ESA), that will characterize an onboard…

Autonomous spacecraft relative navigation technology has been planned for and applied to many famous space missions. The development of on-board electronics systems has enabled the use of vision-based and LiDAR-based methods to achieve…

While building up a catalog of Earth orbiting objects, if the available optical observations are sparse, not deliberate follow ups of specific objects, no orbit determination is possible without previous correlation of observations obtained…

A simple procedure is developed to determine orbital elements of an object orbiting in a central force field which contribute more than three independent celestial positions. By manipulation of formal three point Gauss method of orbit…

Hand pose estimation has matured rapidly in recent years. The introduction of commodity depth sensors and a multitude of practical applications have spurred new advances. We provide an extensive analysis of the state-of-the-art, focusing on…

There is a great demand for vision-based robotics solutions that can operate using Global Positioning Systems (GPS), but are also robust against GPS signal loss and gyroscope failure. This paper investigates the estimation and tracking…

Object pose estimation is a core perception task that enables, for example, object grasping and scene understanding. The widely available, inexpensive and high-resolution RGB sensors and CNNs that allow for fast inference based on this…

Hand-eye calibration, as a fundamental task in vision-based robotic systems, aims to estimate the transformation matrix between the coordinate frame of the camera and the robot flange. Most approaches to hand-eye calibration rely on…