相关论文: Target State Estimation and Prediction for High Sp…

The use of state estimation technique offers a means of inferring the rotor-effective wind speed based upon solely standard measurements of the turbine. For the ease of design and computational concerns, such estimators are typically built…

We present a new online approach to track human whole-body motion from motion capture data, i.e., positions of labeled markers attached to the human body. Tracking in noisy data can be effectively performed with the aid of well-established…

A pose estimation technique based on error-state extended Kalman that fuses angular rates, accelerations, and relative range measurements is presented in this paper. An unconstrained dynamic model with kinematic coupling for a…

This paper proposes a strategy to encircle and intercept a non-cooperative aerial point-mass moving target by leveraging noisy range measurements for state estimation. In this approach, the guardians actively ensure the observability of the…

Multiple Object Tracking (MOT) has been a useful yet challenging task in many real-world applications such as video surveillance, intelligent retail, and smart city. The challenge is how to model long-term temporal dependencies in an…

In this paper we apply an extended Kalman filter to track both the location and the orientation of a mobile target from multistatic response measurements. We also analyze the effect of the limited-view aspect on the stability and the…

This paper reports on developing a real-time invariant proprioceptive robot state estimation framework called DRIFT. A didactic introduction to invariant Kalman filtering is provided to make this cutting-edge symmetry-preserving approach…

When performing visual servoing or object tracking tasks, active sensor planning is essential to keep targets in sight or to relocate them when missing. In particular, when dealing with a known target missing from the sensor's field of…

Accurate state estimation is crucial for legged robot locomotion, as it provides the necessary information to allow control and navigation. However, it is also challenging, especially in scenarios with uneven and slippery terrain. This…

Extended object tracking considers the simultaneous estimation of the kinematic state and the shape parameters of a moving object based on a varying number of noisy detections. A main challenge in extended object tracking is the…

The Kalman filter (KF) is a widely-used algorithm for tracking dynamic systems that are captured by state space (SS) models. The need to fully describe a SS model limits its applicability under complex settings, e.g., when tracking based on…

Multi-object tracking (MOT) is a crucial component of situational awareness in military defense applications. With the growing use of unmanned aerial systems (UASs), MOT methods for aerial surveillance is in high demand. Application of MOT…

One-shot pose estimation for tasks such as body joint localization, camera pose estimation, and object tracking are generally noisy, and temporal filters have been extensively used for regularization. One of the most widely-used methods is…

This paper illustrates the way for estimating position and orientation of a vehicle with an Extended Kalman Filter (EKF). For this purpose a non-linear model is designed and an adaptive calculation of measurement noise covariance matrix is…

Accurate state estimates are required for increasingly complex systems, to enable, for example, feedback control. However, available state estimation schemes are not necessarily real-time feasible for certain large-scale systems. Therefore,…

State estimation that combines observational data with mathematical models is central to many applications and is commonly addressed through filtering methods, such as ensemble Kalman filters. In this article, we examine the signal-tracking…

Many Multi-Object Tracking (MOT) approaches exploit motion information to associate all the detected objects across frames. However, many methods that rely on filtering-based algorithms, such as the Kalman Filter, often work well in linear…

In a variety of problems, the number and state of multiple moving targets are unknown and are subject to be inferred from their measurements obtained by a sensor with limited sensing ability. This type of problems is raised in a variety of…

The performance of tracking algorithms strongly depends on the chosen model assumptions regarding the target dynamics. If there is a strong mismatch between the chosen model and the true object motion, the track quality may be poor or the…

Traditional tracking-by-detection systems typically employ Kalman filters (KF) for state estimation. However, the KF requires domain-specific design choices and it is ill-suited to handling non-linear motion patterns. To address these…