相关论文: Improved Extended Kalman Filter-Based Disturbance …
This paper presents a novel real-time tracking system capable of improving body pose estimation algorithms in distributed camera networks. The first stage of our approach introduces a linear Kalman filter operating at the body joints level,…
Multiple pedestrian tracking is crucial for enhancing safety and efficiency in intelligent transport and autonomous driving systems by predicting movements and enabling adaptive decision-making in dynamic environments. It optimizes traffic…
Lower limb exoskeletons show promise to assist human movement, but their utility is limited by controllers designed for discrete, predefined actions in controlled environments, restricting their real-world applicability. We present an…
We propose a probabilistic filtering method which fuses joint measurements with depth images to yield a precise, real-time estimate of the end-effector pose in the camera frame. This avoids the need for frame transformations when using it…
Human motion capture is frequently used to study rehabilitation and clinical problems, as well as to provide realistic animation for the entertainment industry. IMU-based systems, as well as Marker-based motion tracking systems, are the…
State estimation is challenging for 3D object tracking with high maneuverability, as the target's state transition function changes rapidly, irregularly, and is unknown to the estimator. Existing work based on interacting multiple model…
Control systems are inevitably affected by external disturbances, and a major objective of the control design is to attenuate or eliminate their adverse effects on the system performance. This paper presents a disturbance rejection approach…
We present a new online approach to track human whole-body motion from motion capture data, i.e., positions of labeled markers attached to the human body. Tracking in noisy data can be effectively performed with the aid of well-established…
This work provides formal safety guarantees for control systems with disturbance. A disturbance observer-based robust safety-critical controller is proposed, that estimates the effect of the disturbance on safety and utilizes this estimate…
Extended object tracking involves estimating both the physical extent and kinematic parameters of a target object, where typically multiple measurements are observed per time step. In this article, we propose a deterministic closed-form…
The estimation of relative motion between spacecraft increasingly relies on feature-matching computer vision, which feeds data into a recursive filtering algorithm. Kalman filters, although efficient in noise compensation, demand extensive…
The paper proposes a new calibration method for parallel manipulators that allows efficient identification of the joint offsets using observations of the manipulator leg parallelism with respect to the base surface. The method employs a…
This paper develops a novel slip estimator using the invariant observer design theory and Disturbance Observer (DOB). The proposed state estimator for mobile robots is fully proprioceptive and combines data from an inertial measurement unit…
Detecting impact where an individual makes contact with the ground within a fall event is crucial in fall detection systems, particularly for elderly care where prompt intervention can prevent serious injuries. The UP-Fall dataset, a key…
Intelligent data-driven monitoring procedures hold enormous potential for ensuring safe operation and optimal management of the railway infrastructure in the face of increasing demands on cost and efficiency. Numerous studies have shown…
The extended Kalman filter is perhaps the most standard tool to estimate in real time the state of a dynamical system from noisy measurements of some function of the system, with extensive practical applications (such as position tracking…
Inertial measurement units are widely used in different fields to estimate the attitude. Many algorithms have been proposed to improve estimation performance. However, most of them still suffer from 1) inaccurate initial estimation, 2)…
Unpredictable movement patterns and small visual mark make precise tracking of fast-moving tiny objects like a racquetball one of the challenging problems in computer vision. This challenge is particularly relevant for sport robotics…
Precise user localization and tracking enhances energy-efficient and ultra-reliable low latency applications in the next generation wireless networks. In addition to computational complexity and data association challenges with…
To enable optical long baseline interferometry toward faint objects, long integrations are necessary despite atmospheric turbulence. Fringe trackers are needed to stabilize the fringes and thus increase the fringe visibility and phase…