相关论文: Pose Estimation and Tracking for ASIST

Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…

Point-source transient events (PSTEs) - optical events that are both extremely fast and extremely small - pose several challenges to an imaging system. Due to their speed, accurately characterizing such events often requires detectors with…

Detecting pedestrians and predicting future trajectories for them are critical tasks for numerous applications, such as autonomous driving. Previous methods either treat the detection and prediction as separate tasks or simply add a…

This short paper presents first steps in the scientific part of the KIRETT project, which aims to improve first aid during rescue operations using a wearable device. The wearable is used for computer-aided situation recognition by means of…

Vehicle teleoperation is an interesting feature in many fields. A typical problem of teleoperation is communication time delay which, together with actuator saturation and environmental disturbance, can cause a vehicle deviation from the…

Spacecraft pose estimation is a key task to enable space missions in which two spacecrafts must navigate around each other. Current state-of-the-art algorithms for pose estimation employ data-driven techniques. However, there is an absence…

The integration of Automated Delivery Robots (ADRs) into pedestrian-heavy urban spaces introduces unique challenges in terms of safe, efficient, and socially acceptable navigation. We develop the complete pipeline for a single vision sensor…

There has been significant progress in machine learning algorithms for human pose estimation that may provide immense value in rehabilitation and movement sciences. However, there remain several challenges to routine use of these tools for…

This paper investigates the boresight alignment control problem under safety constraints and performance requirements, involving pointing-forbidden constraint, attitude angular velocity limitation, and pointing accuracy requirement.…

Real-time object pose estimation and tracking is challenging but essential for emerging augmented reality (AR) applications. In general, state-of-the-art methods address this problem using deep neural networks which indeed yield…

In this paper, a novel adaptive smooth disturbance observer-based fast finite-time adaptive backstepping control scheme is presented for the attitude tracking of the 3-DOF helicopter system subject to compound disturbances. First, an…

Hard thresholding pursuit (HTP) is a recently proposed iterative sparse recovery algorithm which is a result of combination of a support selection step from iterated hard thresholding (IHT) and an estimation step from the orthogonal…

Sensor-based Human Activity Recognition facilitates unobtrusive monitoring of human movements. However, determining the most effective sensor placement for optimal classification performance remains challenging. This paper introduces a…

Current practice for asteroid close proximity maneuvers requires extremely accurate characterization of the environmental dynamics and precise spacecraft positioning prior to the maneuver. This creates a delay of several months between the…

Today the global averaged civilian positioning accuracy is still at meter level for all existing Global Navigation Satellite Systems (GNSSs), and the civilian positioning performance is even worse in regions such as the Arctic region and…

A fundamental capability for On-orbit Servicing, Assembly, and Manufacturing (OSAM) is inspection of the vehicle to be serviced, or the structure being assembled. This research assumes autonomous slewing to maintain situational awareness of…

Many multi-sensor navigation systems urgently demand accurate positioning initialization from global navigation satellite systems (GNSSs) in challenging static scenarios. However, ground blockages against line-of-sight (LOS) signal…

Autonomous emergency steering (AES) systems have the promising potential to further reduce traffic fatalities with other (potentially vulnerable) traffic participants by using relatively small lateral deviations to realize collision-free…

We address the problem of making human motion capture in the wild more practical by using a small set of inertial sensors attached to the body. Since the problem is heavily under-constrained, previous methods either use a large number of…

In order to advance underwater computer vision and robotics from lab environments and clear water scenarios to the deep dark ocean or murky coastal waters, representative benchmarks and realistic datasets with ground truth information are…