相关论文: Global Attitude Estimation using Uncertainty Ellip…

This paper presents a method for pose estimation of off-road vehicles moving over uneven terrain. It determines the contact points between the wheels and the terrain, assuming rigid contacts between an arbitrary number of wheels and ground.…

This work proposes a quaternion-based sliding variable that describes exponentially convergent error dynamics for any forward complete desired attitude trajectory. The proposed sliding variable directly operates on the non-Euclidean space…

Stable estimation of rigid body pose and velocities from noisy measurements, without any knowledge of the dynamics model, is treated using the Lagrange-d'Alembert principle from variational mechanics. With body-fixed optical and inertial…

The two-stage object pose estimation paradigm first detects semantic keypoints on the image and then estimates the 6D pose by minimizing reprojection errors. Despite performing well on standard benchmarks, existing techniques offer no…

Estimating the head pose of a person is a crucial problem for numerous applications that is yet mainly addressed as a subtask of frontal pose prediction. We present a novel method for unconstrained end-to-end head pose estimation to tackle…

This paper presents a deterministic hybrid observer for the attitude dynamics of a rigid body that guarantees global asymptotical stability. Any smooth attitude observer suffers from the inherent topological restriction that it is…

Currently, the improvement of LiDAR poses estimation accuracy is an urgent need for mobile robots. Research indicates that diverse LiDAR points have different influences on the accuracy of pose estimation. This study aimed to select a good…

We describe a generalised method for ellipsoid fitting against a minimum set of data points. The proposed method is numerically stable and applies to a wide range of ellipsoidal shapes, including highly elongated and arbitrarily oriented…

Motion prediction is essential for safe and efficient autonomous driving. However, the inexplicability and uncertainty of complex artificial intelligence models may lead to unpredictable failures of the motion prediction module, which may…

In this paper, we investigate the attitude tracking problem of uncertain flexible spacecraft systems subject to external disturbances. In sharp contrast to existing results, the dynamics of flexible spacecraft systems and external…

Accurate 6D object pose estimation is essential for various robotic tasks. Uncertain pose estimates can lead to task failures; however, a certain degree of error in the pose estimates is often acceptable. Hence, by quantifying errors in the…

In autonomous driving, accurate motion prediction is crucial for safe and efficient motion planning. To ensure safety, planners require reliable uncertainty estimates of the predicted behavior of surrounding agents, yet this aspect has…

This paper presents a novel online capable method for simultaneous estimation of human motion in terms of segment orientations and positions along with sensor-to-segment calibration parameters from inertial sensors attached to the body. In…

In this paper, we propose a novel framework called rigid body localization for joint position and orientation estimation of a rigid body. We consider a setup in which a few sensors are mounted on a rigid body. The absolute position of the…

This paper presents three novel algorithms for calculating geodesic intersections on an ellipsoid. These algorithms are applied in a case study analyzing real-time transit data in California to assess vehicle position drift. The analysis…

In this paper, we propose a method for online estimation of the robot's posture. Our method uses von Mises and Bingham distributions as probability distributions of joint angles and 3D orientation, which are used in directional statistics.…

Most realtime human pose estimation approaches are based on detecting joint positions. Using the detected joint positions, the yaw and pitch of the limbs can be computed. However, the roll along the limb, which is critical for application…

Accurate estimation of the relative attitude and angular velocity between two rigid bodies is fundamental in aerospace applications such as spacecraft rendezvous and docking. In these scenarios, a chaser vehicle must determine the…

This paper proposes new algorithms for attitude estimation and control based on fused inertial vector measurements using linear complementary filters principle. First, n-order direct and passive complementary filters combined with TRIAD…

Fitting concentric geometric objects to digitized data is an important problem in many areas such as iris detection, autonomous navigation, and industrial robotics operations. There are two common approaches to fitting geometric shapes to…