相关论文: A New Self-Alignment Method without Solving Wahba …
We demonstrate a multi-lidar calibration framework for large mobile platforms that jointly calibrate the extrinsic parameters of non-overlapping Field-of-View (FoV) lidar sensors, without the need for any external calibration aid. The…
EASA's learning-assurance guidance requires data-driven aviation systems to build and monitor their own situation representation, yet for neural networks the technical means to provide such evidence remain an open problem. We address this…
Balloon-borne astronomy offers an attractive option for experiments that require precise pointing and attitude stabilization, due to a large reduction in the atmospheric interference observed by ground-based systems as well as the low-cost…
A reliable pose estimator robust to environmental disturbances is desirable for mobile robots. To this end, inertial measurement units (IMUs) play an important role because they can perceive the full motion state of the vehicle…
In this paper, we present the Swarming Without an Anchor (SWA) approach to state estimation in swarms of Unmanned Aerial Vehicles (UAVs) experiencing ego-localization dropout, where individual agents are laterally stabilized using relative…
This paper revisits the problem of orientation estimation for rigid bodies through a novel framework based on scalar measurements. Unlike traditional vector-based methods, the proposed approach enables selective utilization of only the…
Multi-view depth estimation has achieved impressive performance over various benchmarks. However, almost all current multi-view systems rely on given ideal camera poses, which are unavailable in many real-world scenarios, such as autonomous…
Perception systems in autonomous driving rely on sensors such as LiDAR and cameras to perceive the 3D environment. However, due to occlusions and data sparsity, these sensors often fail to capture complete information. Semantic Occupancy…
This paper introduces two novel nonlinear stochastic attitude estimators developed on the Special Orthogonal Group \mathbb{SO}\left(3\right) with the tracking error of the normalized Euclidean distance meeting predefined transient and…
In this paper, a model predictive control (MPC) framework is employed to realize autonomous rendezvous and docking (AR&D) with a tumbling target, using the piecewise affine (PWA) model of the 3-D line-of-sight (LOS) dynamics and Euler…
Distinction among nearby poses and among symmetries of an object is challenging. In this paper, we propose a unified, group-theoretic approach to tackle both. Different from existing works which directly predict absolute pose, our method…
Multiple LiDARs have progressively emerged on autonomous vehicles for rendering a wide field of view and dense measurements. However, the lack of precise calibration negatively affects their potential applications in localization and…
Driver visual attention prediction is a critical task in autonomous driving and human-computer interaction (HCI) research. Most prior studies focus on estimating attention allocation at a single moment in time, typically using static RGB…
This paper proposes a solution to the attitude tracking problem for a novel quadrotor tailsitter unmanned aerial vehicle called swiveling biplane quadrotor. The proposed vehicle design addresses the lack of yaw control authority in…
A geometric nonlinear observer algorithm for Simultaneous Localization and Mapping (SLAM) developed on the Lie group of \mathbb{SLAM}_{n}\left(3\right) is proposed. The presented novel solution estimates the vehicle's pose (i.e. attitude…
The resurgence of lunar operations requires advancements in cislunar navigation and Space Situational Awareness (SSA). Challenges associated to these tasks have created an interest in autonomous planning, navigation, and tracking…
This paper introduces inspection through GLASS, a Geometric Look-Angle Shaping Strategy for enclosed regions using unmanned aerial vehicles. In doing so, the vehicles guidance command is constructed through a bounded, geometry-consistent…
Navigation of wheeled vehicles on uneven terrain necessitates going beyond the 2D approaches for trajectory planning. Specifically, it is essential to incorporate the full 6dof variation of vehicle pose and its associated stability cost in…
We address the problem of estimating the pose and shape of vehicles from LiDAR scans, a common problem faced by the autonomous vehicle community. Recent work has tended to address pose and shape estimation separately in isolation, despite…
For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…