相关论文: Relative Pose Observability Analysis Using Dual Qu…

A nonlinear observer on the Special Euclidean group $\mathrm{SE(3)}$ for full pose estimation, that takes the system outputs on the real projective space directly as inputs, is proposed. The observer derivation is based on a recent advanced…

In response to the increasing demand for cardiocerebrovascular interventional surgeries, precise control of interventional robots has become increasingly important. Within these complex vascular scenarios, the accurate and reliable…

In this note, we have revisited the previously published paper "Particle Filtering for Attitude Estimation Using a Minimal Local-Error Representation". In the revisit, we point out that the quaternion particle filtering based on the…

In this work we present a unified method of relative camera pose estimation from points and lines correspondences. Given a set of 2D points and lines correspondences in three views, of which two are known, a method has been developed for…

The Koopman operator approach to the state estimation problem for nonlinear systems is a promising research area. The main goal of this paper is an attempt to provide a rigorous theoretical framework for this approach. In particular, the…

Relative pose estimation between fixed-wing unmanned aerial vehicles (UAVs) is treated using a stable and robust estimation scheme. The motivating application of this scheme is that of "handoff" of an object being tracked from one…

Relative pose regressors (RPRs) localize a camera by estimating its relative translation and rotation to a pose-labelled reference. Unlike scene coordinate regression and absolute pose regression methods, which learn absolute scene…

Time delays in gravitational lenses can be used to determine the Hubble constant and the lens potential. In future surveys, many gravitational lenses can be discovered, and their time delays and image positions can in principle be measured.…

Mutual localization plays a crucial role in multi-robot cooperation. CREPES, a novel system that focuses on six degrees of freedom (DOF) relative pose estimation for multi-robot systems, is proposed in this paper. CREPES has a compact…

Relative attitude formation control systems are developed for multiple spacecraft, based on the line-of-sight measurements between spacecraft in formation. The proposed control systems are unique in the sense that they do not require…

In this paper we present four cases of minimal solutions for two-view relative pose estimation by exploiting the affine transformation between feature points and we demonstrate efficient solvers for these cases. It is shown, that under the…

We study the use of overlapping and non-overlapping camera layouts in estimating the ego-motion of a moving robot. To estimate the location and orientation of the robot, we investigate using four cameras as non-overlapping individuals, and…

Many navigation problems can be formulated as observer design on linear observed systems with a two-frame group structure, on which an invariant filter can be implemented with guaranteed consistency and stability. It's still unclear how…

An algorithm for pose and motion estimation using corresponding features in omnidirectional images and a digital terrain map is proposed. In previous paper, such algorithm for regular camera was considered. Using a Digital Terrain (or…

Estimating the limbs pose in a wearable way may benefit multiple areas such as rehabilitation, teleoperation, human-robot interaction, gaming, and many more. Several solutions are commercially available, but they are usually expensive or…

Air-bearing platforms for simulating the rotational dynamics of satellites require highly precise ground truth systems. Unfortunately, commercial motion capture systems used for this scope are complex and expensive. This paper shows a novel…

Relative pose estimation is the foundational requirement for multi-robot system, while it is a challenging research topic in infrastructure-free scenes. In this study, we analyze the relative 6-DOF pose estimation error of multi-robot…

Robot pose estimation is a challenging and crucial task for vision-based surgical robotic automation. Typical robotic calibration approaches, however, are not applicable to surgical robots, such as the da Vinci Research Kit (dVRK), due to…

Motion capture through tracking retroreflectors obtains highly accurate pose estimation, which is frequently used in robotics. Unlike commercial motion capture systems, fiducial marker-based tracking methods, such as AprilTags, can perform…

Dual quaternion algebra and its application to robotics have gained considerable interest in the last two decades. Dual quaternions have great geometric appeal and easily capture physical phenomena inside an algebraic framework that is…