相关论文: Belief Propagation-based Rotation and Translation …
This research presents a novel method of determining relative bearing and elevation measurements, to a remote signal, that is suitable for implementation on small embedded systems - potentially in a GPS denied environment. This is an…
We consider the problem of 3D object pose estimation. While much recent work has focused on the RGB domain, the reliance on accurately annotated images limits their generalizability and scalability. On the other hand, the easily available…
A simple yet precise optical technique for measuring the ambipolar carrier mobility in semiconductors is presented. Using tightly focused Gaussian laser beams in a photo-reflectance system, the modulated reflectance signal is measured as a…
We propose a method for estimating the 3D pose for the camera of a mobile device in outdoor conditions, using only an untextured 2D model. Previous methods compute only a relative pose using a SLAM algorithm, or require many registered…
Electric power systems require accurate, scalable, distributed, and near real-time state estimation (SE) to support reliable monitoring and control under increasingly complex operating conditions. Limited monitoring capabilities can lead to…
Multi-robot systems must have the ability to accurately estimate relative states between robots in order to perform collaborative tasks, possibly with no external aiding. Three-dimensional relative pose estimation using range measurements…
Estimating 3D full-body pose from sparse sensor data is a pivotal technique employed for the reconstruction of realistic human motions in Augmented Reality and Virtual Reality. However, translating sparse sensor signals into comprehensive…
We present a novel technique to estimate the 6D pose of objects from single images where the 3D geometry of the object is only given approximately and not as a precise 3D model. To achieve this, we employ a dense 2D-to-3D correspondence…
Emerging wireless applications are requiring ever more accurate location-positioning from sensor measurements. In this paper, we develop sensor selection strategies for 3D wireless positioning based on time of arrival (TOA) and received…
Decentralized coordination for multi-robot systems involves planning in challenging, high-dimensional spaces. The planning problem is particularly challenging in the presence of obstacles and different sources of uncertainty such as…
Accurate 3D reconstruction of vehicles is vital for applications such as vehicle inspection, predictive maintenance, and urban planning. Existing methods like Neural Radiance Fields and Gaussian Splatting have shown impressive results but…
The non-commutative nature of 3D rotations poses well-known challenges in generalizing planar problems to three-dimensional ones, even more so in contact-rich tasks where haptic information (i.e., forces/torques) is involved. In this sense,…
3D human body shape and pose estimation from RGB images is a challenging problem with potential applications in augmented/virtual reality, healthcare and fitness technology and virtual retail. Recent solutions have focused on three types of…
Situation-aware technologies enabled by multiobject tracking (MOT) methods will create new services and applications in fields such as autonomous navigation and applied ocean sciences. Belief propagation (BP) is a state-of-the-art method…
We consider the problem of localizing change points in a generalized linear model (GLM), a model that covers many widely studied problems in statistical learning including linear, logistic, and rectified linear regression. We propose a…
In this work, we propose a general framework for wireless imaging in distributed MIMO wideband communication systems, considering multi-view non-isotropic targets and near-field propagation effects. For indoor scenarios where the objective…
In this work, the problem of 4 degree-of-freedom (3D position and heading) robot-to-robot relative frame transformation estimation using onboard odometry and inter-robot distance measurements is studied. Firstly, we present a theoretical…
This paper presents a unified framework for robust three-dimensional (3-D) source localization using a network of sensors equipped with one-dimensional (1-D) linear arrays. While such arrays offer practical advantages in terms of cost and…
Typical template-based object pose pipelines estimate the pose by retrieving the closest matching template and aligning it with the observed image. However, failure to retrieve the correct template often leads to inaccurate pose…
Detecting oriented objects along with estimating their rotation information is one crucial step for analyzing remote sensing images. Despite that many methods proposed recently have achieved remarkable performance, most of them directly…