相关论文: Reformulating AI-based Multi-Object Relative State…

Deep learning-based object pose estimators are often unreliable and overconfident especially when the input image is outside the training domain, for instance, with sim2real transfer. Efficient and robust uncertainty quantification (UQ) in…

Reliable localization is critical for robot navigation in complex indoor environments. In this paper, we propose an uncertainty-aware localization method that enhances the reliability of localization outputs without modifying the prediction…

The Kalman filter is a fundamental tool for state estimation in dynamical systems. While originally developed for linear Gaussian settings, it has been extended to nonlinear problems through approaches such as the extended and unscented…

Estimating relative camera poses between images has been a central problem in computer vision. Methods that find correspondences and solve for the fundamental matrix offer high precision in most cases. Conversely, methods predicting pose…

Vision based localization is a popular approach to carry out manoeuvres particularly in GPS-restricted indoor environments, because vision can complement other activities performed by the robot. The objective is to estimate the current…

Augmented Reality has been subject to various integration efforts within industries due to its ability to enhance human machine interaction and understanding. Neural networks have achieved remarkable results in areas of computer vision,…

We present a new dataset for 6-DoF pose estimation of known objects, with a focus on robotic manipulation research. We propose a set of toy grocery objects, whose physical instantiations are readily available for purchase and are…

Pose estimation-guided unseen object 6-DoF robotic manipulation is a key task in robotics. However, the scalability of current pose estimation methods to unseen objects remains a fundamental challenge, as they generally rely on CAD models…

Accurate 6-DoF pose estimation of objects is critical for robots to perform precise manipulation tasks. However, for dynamic object pose estimation, conventional camera-based approaches face several major challenges, such as motion blur,…

This paper considers the use of two position receivers and an inertial measurement unit (IMU) to estimate the position, velocity, and attitude of a rigid body, collectively called extended pose. The measurement model consisting of the…

Autonomous surface vessels (ASVs) are increasingly vital for marine science, offering robust platforms for underwater mapping and inspection. Accurate state estimation, particularly of vehicle pose, is paramount for precise seafloor…

With the recent advance of deep learning based object recognition and estimation, it is possible to consider object level SLAM where the pose of each object is estimated in the SLAM process. In this paper, based on a novel Lie group…

This paper illustrates the way for estimating position and orientation of a vehicle with an Extended Kalman Filter (EKF). For this purpose a non-linear model is designed and an adaptive calculation of measurement noise covariance matrix is…

Accurate estimation of the dynamic states of a synchronous machine (e.g., rotor s angle and speed) is essential in monitoring and controlling transient stability of a power system. It is well known that the covariance matrixes of process…

We present a parallelized optimization method based on fast Neural Radiance Fields (NeRF) for estimating 6-DoF pose of a camera with respect to an object or scene. Given a single observed RGB image of the target, we can predict the…

The Kalman filter (KF) and its variants are among the most celebrated algorithms in signal processing. These methods are used for state estimation of dynamic systems by relying on mathematical representations in the form of simple…

Inferring the 6DoF pose of an object from a single RGB image is an important but challenging task, especially under heavy occlusion. While recent approaches improve upon the two stage approaches by training an end-to-end pipeline, they do…

6-DoF pose estimation is an essential component of robotic manipulation pipelines. However, it usually suffers from a lack of generalization to new instances and object types. Most widely used methods learn to infer the object pose in a…

The ensemble Kalman filter (EnKF) is an efficient algorithm for many data assimilation problems. In certain circumstances, however, divergence of the EnKF might be spotted. In previous studies, the authors proposed an…

6DOF camera relocalization is an important component of autonomous driving and navigation. Deep learning has recently emerged as a promising technique to tackle this problem. In this paper, we present a novel relative geometry-aware Siamese…