相关论文: Relative Navigation and Dynamic Target Tracking fo…
We propose a novel method that tracks fast moving objects, mainly non-uniform spherical, in full 6 degrees of freedom, estimating simultaneously their 3D motion trajectory, 3D pose and object appearance changes with a time step that is a…
Despite significant progress in global localization of Unmanned Aerial Vehicles (UAVs) in GPS-denied environments, existing methods remain constrained by the availability of datasets. Current datasets often focus on small-scale scenes and…
Modeling the rotation of moving objects is a fundamental task in computer vision, yet $SO(3)$ extrapolation still presents numerous challenges: (1) unknown quantities such as the moment of inertia complicate dynamics, (2) the presence of…
Accurate motion estimation for tracking deformable tissues in echocardiography is essential for precise cardiac function measurements. While traditional methods like block matching or optical flow struggle with intricate cardiac motion,…
Ultra Wideband (UWB) is widely used to mitigate drift in visual-inertial odometry (VIO) systems. Consistency is crucial for ensuring the estimation accuracy of a UWBaided VIO system. An inconsistent estimator can degrade localization…
Visual object tracking plays a critical role in visual-based autonomous systems, as it aims to estimate the position and size of the object of interest within a live video. Despite significant progress made in this field, state-of-the-art…
The use of autonomous underwater vehicles (AUVs) for surveying, mapping, and inspecting unexplored underwater areas plays a crucial role, where maneuverability and power efficiency are key factors for extending the use of these platforms,…
Sensor calibration, which can be intrinsic or extrinsic, is an essential step to achieve the measurement accuracy required for modern perception and navigation systems deployed on autonomous robots. To date, intrinsic calibration models for…
Fast prototyping of new SE(3) estimation objectives remains awkward in practice. Modern Lie-group frameworks -- GTSAM, manif, Sophus, SymForce, Ceres -- target first-order workloads through different code-generation and…
Augmented reality assembly guidance is essential for intelligent manufacturing and medical applications, requiring continuous measurement of the 6DoF poses of manipulated objects. Although current tracking methods have made significant…
This paper investigates the problem of controlling an autonomous agent to simultaneously localize and circumnavigate an unknown stationary target using bearing-only measurements (without explicit differentiation). To improve the convergence…
This paper concerns the estimation problem of attitude, position, and linear velocity of a rigid-body autonomously navigating with six degrees of freedom (6 DoF). The navigation dynamics are highly nonlinear and are modeled on the matrix…
Accurate 3D multi-object tracking (MOT) is vital for autonomous vehicles, yet LiDAR and camera-based methods degrade in adverse weather. Meanwhile, Radar-based solutions remain robust but often suffer from limited vertical resolution and…
Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…
The roto-translation group SE2 has been of active interest in image analysis due to methods that lift the image data to multi-orientation representations defined on this Lie group. This has led to impactful applications of…
Most of existing correlation filter-based tracking approaches only estimate simple axis-aligned bounding boxes, and very few of them is capable of recovering the underlying similarity transformation. To tackle this challenging problem, in…
In recent years, Visual-Inertial Odometry (VIO) has achieved many significant progresses. However, VIO methods suffer from localization drift over long trajectories. In this paper, we propose a First-Estimates Jacobian…
This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid…
Image retrieval-based cross-view localization methods often lead to very coarse camera pose estimation, due to the limited sampling density of the database satellite images. In this paper, we propose a method to increase the accuracy of a…
Localization of magnetically actuated medical robots is essential for accurate actuation, closed loop control and delivery of functionality. Despite extensive progress in the use of magnetic field and inertial measurements for pose…