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

This paper reports on a novel method for LiDAR odometry estimation, which completely parameterizes the system with dual quaternions. To accomplish this, the features derived from the point cloud, including edges, surfaces, and Stable…

One of the most powerful methods of color image recognition is the two-dimensional principle component analysis (2DQPCA) approach, which is based on quaternion representation and preserves color information very well. However, the current…

In this paper, we propose a simple methodology to detect the partial pose of a human occupying the manipulator work-space using only on-robot time--of--flight laser ranging sensors. The sensors are affixed on each link of the robot in a…

Motion and dynamic environments, especially under challenging lighting conditions, are still an open issue for robust robotic applications. In this paper, we propose an end-to-end pipeline for real-time, low latency, 6 degrees-of-freedom…

Accurate real-time pose estimation of spacecraft or object in space is a key capability necessary for on-orbit spacecraft servicing and assembly tasks. Pose estimation of objects in space is more challenging than for objects on Earth due to…

We present a novel two-view geometry estimation framework which is based on a differentiable robust loss function fitting. We propose to treat the robust fundamental matrix estimation as an implicit layer, which allows us to avoid…

Relative pose estimation provides a promising way for achieving object-agnostic pose estimation. Despite the success of existing 3D correspondence-based methods, the reliance on explicit feature matching suffers from small overlaps in…

Solving the camera-to-robot pose is a fundamental requirement for vision-based robot control, and is a process that takes considerable effort and cares to make accurate. Traditional approaches require modification of the robot via markers,…

The labeled data required to learn pose estimation for articulated objects is difficult to provide in the desired quantity, realism, density, and accuracy. To address this issue, we develop a method to learn representations, which are very…

Semi-Global Exponential Stability (SGES) is proved for the combined attitude and position rigid body motion tracking problem, which was previously only known to be asymptotically stable. Dual quaternions are used to jointly represent the…

Attitude estimation using scalar measurements, corresponding to partial vectorial observations, arises naturally when inertial vectors are not fully observed but only measured along specific body-frame vectors. Such measurements arise in…

This paper deals with the simultaneous estimation of the attitude, position and linear velocity for vision-aided inertial navigation systems. We propose a nonlinear observer on $SO(3)\times \mathbb{R}^{15}$ relying on body-frame…

Relative pose estimation using point correspondences (PC) is a widely used technique. A minimal configuration of six PCs is required for two views of generalized cameras. In this paper, we present several minimal solvers that use six PCs to…

This paper formulates the pose estimation problem as nonlinear stochastic filter kinematics evolved directly on the Special Euclidean Group SE(3). Proposed filter guarantees that the errors present in position and Rodriguez vector estimates…

This paper proposes to use the three vectors in a rotation matrix as the representation in head pose estimation and develops a new neural network based on the characteristic of such representation. We address two potential issues existed in…

In recent years, a deep learning framework has been widely used for object pose estimation. While quaternion is a common choice for rotation representation of 6D pose, it cannot represent an uncertainty of the observation. In order to…

Two-view pose estimation is essential for map-free visual relocalization and object pose tracking tasks. However, traditional matching methods suffer from time-consuming robust estimators, while deep learning-based pose regressors only…

In order to meaningfully interact with the world, robot manipulators must be able to interpret objects they encounter. A critical aspect of this interpretation is pose estimation: inferring quantities that describe the position and…

Real-time motion tracking of kinematic chains is a key prerequisite in the control of, e.g., robotic actuators and autonomous vehicles and also has numerous biomechanical applications. In recent years, it has been shown that, by placing…

Linear Parameter Varying Dynamical Systems (LPV-DS) encode trajectories into an autonomous first-order DS that enables reactive responses to perturbations, while ensuring globally asymptotic stability at the target. However, the current…