相关论文: Vision-Based Estimation of Small Body Rotational S…

This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators. The robot equipped with tactile sensors on the…

The recent surge in interest in autonomous driving stems from its rapidly developing capacity to enhance safety, efficiency, and convenience. A pivotal aspect of autonomous driving technology is its perceptual systems, where core algorithms…

To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…

Control of systems operating in unexplored environments is challenging due to lack of complete model knowledge. Additionally, under measurement noises, data collected from onboard sensors are of limited accuracy. This paper considers…

For applications in navigation and robotics, estimating the 3D pose of objects is as important as detection. Many approaches to pose estimation rely on detecting or tracking parts or keypoints [11, 21]. In this paper we build on a recent…

We present a method for estimating pose information from a single depth image given an arbitrary kinematic structure without prior training. For an arbitrary skeleton and depth image, an evolutionary algorithm is used to find the optimal…

We present the first results of the Astrometric Reconnaissance of Exoplanetary Systems (ARES) project, aimed at validating and characterizing candidate exoplanets around the nearest systems using multi-epoch Hubble Space Telescope (HST)…

We present a novel, automatic eye gaze tracking scheme inspired by smooth pursuit eye motion while playing mobile games or watching virtual reality contents. Our algorithm continuously calibrates an eye tracking system for a head mounted…

There are several attitude estimation algorithms in existence, all of which use local coordinate representations for the group of rigid body orientations. All local coordinate representations of the group of orientations have associated…

This paper presents a new algorithm to estimate absolute camera pose given an axis of the camera's rotation matrix. Current algorithms solve the problem via algebraic solutions on limited input domains. This paper shows that the problem can…

Estimating human pose using a front-facing egocentric camera is essential for applications such as sports motion analysis, VR/AR, and AI for wearable devices. However, many existing methods rely on RGB cameras and do not account for…

We study the nonlinear observability of a systems states in view of how well they are observable and what control inputs would improve the convergence of their estimates. We use these insights to develop an observability-aware…

Physical studies of asteroids depend on an availability of lightcurve data. Targets that are easy to observe and analyse naturally have more data available, so their synodic periods are confirmed from multiple sources. Also, thanks to…

Information about the spin state of asteroids is important for our understanding of the dynamical processes affecting them. However, spin properties of asteroids are known for only a small fraction of the whole population. To enlarge the…

We consider sampling and detection strategies for solar illuminated space debris. We argue that the lowest detectable debris cross section may be reduced by 10-100x by analysis of stacks of image frames collected at high rates rather than…

Accurate information of inertial parameters is critical to motion planning and control of space robots. Before the launch, only a rudimentary estimate of the inertial parameters is available from experiments and computer-aided design (CAD)…

Phase curves of asteroids are typically considered to depend solely on the scattering properties of airless particulate surfaces and the size of the object being studied. In this study, we demonstrate the additional dependence of phase…

Inverted landing is a challenging feat to perform in aerial robots, especially without external positioning. However, it is routinely performed by biological fliers such as bees, flies, and bats. Our previous observations of landing…

Reliable Human Orientation Estimation (HOE) from a monocular image is critical for autonomous agents to understand human intention. Significant progress has been made in HOE under full observation. However, the existing methods easily make…

Automated sky surveys frequently report sparse-in-time multiband photometric observations of asteroids passing through their fields of view. Photometric data are currently available for tens of thousands of asteroids, and new data…