相关论文: A New Self-Alignment Method without Solving Wahba …

For reliable operation, next generation autonomous agents will need enhanced situational perception as well as precise navigation capabilities. The global navigation satellite system (GNSS) signals that are utilized by practically all…

Reliable spacecraft attitude control depends on accurate prediction of attitude dynamics, particularly when model-based strategies such as Model Predictive Control (MPC) are employed, where performance is limited by the quality of the…

High-index saddle dynamics (HiSD) is an effective approach for computing saddle points of a prescribed Morse index and constructing solution landscapes for complex nonlinear systems. However, for problems with ill-conditioned Hessians…

This paper tackles the problem of estimating the relative position, orientation, and velocity between a UAV and a planar platform undergoing arbitrary 3D motion during approach and landing. The estimation relies on measurements from…

Interactive visual navigation tasks, which involve following instructions to reach and interact with specific targets, are challenging not only because successful experiences are very rare but also because the complex visual inputs require…

Despite the continual advances in Advanced Driver Assistance Systems (ADAS) and the development of high-level autonomous vehicles (AV), there is a general consensus that for the short to medium term, there is a requirement for a human…

We present an ambiguity resolution method for Global Navigation Satellite System (GNSS)-based attitude determination. A GNSS attitude model with nonlinear constraints is used to rigorously incorporate a priori information. Given the…

While visual localization or SLAM has witnessed great progress in past decades, when deploying it on a mobile robot in practice, few works have explicitly considered the kinematic (or dynamic) constraints of the real robotic system when…

Autonomous navigation is one of the main enabling technologies for future space missions. While conventional spacecraft are navigated through ground stations, their employment for deep-space CubeSats yields costs comparable to those of the…

Focusing on the development of an end-to-end autonomous vehicle model with pixel-to-pixel context awareness, this research proposes the SKGE-Swin architecture. This architecture utilizes the Swin Transformer with a skip-stage mechanism to…

We present LInKs, a novel unsupervised learning method to recover 3D human poses from 2D kinematic skeletons obtained from a single image, even when occlusions are present. Our approach follows a unique two-step process, which involves…

Learning is an inherently continuous phenomenon. When humans learn a new task there is no explicit distinction between training and inference. As we learn a task, we keep learning about it while performing the task. What we learn and how we…

Saddle points provide a hierarchical view of the energy landscape, revealing transition pathways and interconnected basins of attraction, and offering insight into the global structure, metastability, and possible collective mechanisms of…

In this paper, we propose a method for online estimation of the robot's posture. Our method uses von Mises and Bingham distributions as probability distributions of joint angles and 3D orientation, which are used in directional statistics.…

Autonomous landing in cluttered or unstructured environments remains a safety-critical challenge for unmanned aerial vehicles (UAVs), particularly under noisy perception caused by sensor uncertainty and platform-induced disturbances such as…

Most successful approaches to estimate the 6D pose of an object typically train a neural network by supervising the learning with annotated poses in real world images. These annotations are generally expensive to obtain and a common…

Surround-view system (SVS) is widely used in the Advanced Driver Assistance System (ADAS). SVS uses four fisheye lenses to monitor real-time scenes around the vehicle. However, accurate intrinsic and extrinsic parameter estimation is…

Mechanisms for encoding positional information are central for transformer-based language models. In this paper, we analyze the position embeddings of existing language models, finding strong evidence of translation invariance, both for the…

The emerging field of passive macro-scale tile-based self-assembly (TBSA) shows promise in enabling effective manufacturing processes by harnessing TBSA's intrinsic parallelism. However, current TBSA methodologies still do not fulfill their…

The Visual-Inertial Simultaneous Localization and Mapping (VI-SLAM) algorithms which are mostly based on static assumption are widely used in fields such as robotics, UAVs, VR, and autonomous driving. To overcome the localization risks…