相关论文: Global Attitude Estimation using Uncertainty Ellip…

Most of the advanced control systems use sensor-based feedback for robust control. Tilt angle estimation is key feedback for many robotics and mechatronics applications in order to stabilize a system. Tilt angle cannot be directly measured…

Vision based object grasping and manipulation in robotics require accurate estimation of object's 6D pose. The 6D pose estimation has received significant attention in computer vision community and multiple datasets and evaluation metrics…

We obtain global $W^{2,\delta}$ estimates for a type of singular fully nonlinear elliptic equations where the right hand side term belongs to $L^\infty$. The main idea of the proof is to slide paraboloids from below and above to touch the…

This article proposes a general optimization framework for solving hand-eye calibration problem. Unlike traditional methods, an iterative algorithm based on Lie algebra that achieves approximately global optimal solutions is developed.…

We propose a new optimization framework for aleatoric uncertainty estimation in regression problems. Existing methods can quantify the error in the target estimation, but they tend to underestimate it. To obtain the predictive uncertainty…

Sensor network attitude problem consists in retrieving the attitude of each sensor of a network knowing some relative orientations between pairs of sensors. The attitude of a sensor is its orientation in an absolute axis system. We present…

We study computing geometric problems on uncertain points. An uncertain point is a point that does not have a fixed location, but rather is described by a probability distribution. When these probability distributions are restricted to a…

Image-based environment perception is an important component especially for driver assistance systems or autonomous driving. In this scope, modern neuronal networks are used to identify multiple objects as well as the according position and…

Safety is a central requirement for automated vehicles. As such, the assessment of risk in automated driving is key in supporting both motion planning technologies and safety evaluation. In automated driving, risk is characterized by two…

Many practical optimization problems involve uncertain parameters that are strictly positive. However, the most common uncertainty sets used in robust optimization are the box and the ellipsoidal sets, which may include non-positive values…

We solve the problem of determining the pose of known shapes in $\mathbb{R}^3$ from their unoccluded silhouettes. The pose is determined up to global optimality using a simple yet under-explored property of the area-of-silhouette: its…

This paper presents a method to estimate the 3D object position and occupancy given a set of object detections in multiple images and calibrated cameras. This problem is modelled as the estimation of a set of quadrics given 2D conics fit to…

In this paper we consider the problem of constructing numerical algorithms for approximating of convex compact bodies in d-dimensional Euclidean space by polytopes with any given accuracy. It is well known that optimal with respect to the…

Ellipsoid fitting is of general interest in machine vision, such as object detection and shape approximation. Most existing approaches rely on the least-squares fitting of quadrics, minimizing the algebraic or geometric distances, with…

Collision prediction in a dynamic and unknown environment relies on knowledge of how the environment is changing. Many collision prediction methods rely on deterministic knowledge of how obstacles are moving in the environment. However,…

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…

In this paper, we address the problem of estimating the positions of human joints, i.e., articulated pose estimation. Recent state-of-the-art solutions model two key issues, joint detection and spatial configuration refinement, together…

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…

Estimating the head pose of a person is a crucial problem that has a large amount of applications such as aiding in gaze estimation, modeling attention, fitting 3D models to video and performing face alignment. Traditionally head pose is…

In this paper we introduce a novel method to estimate the head pose of people in single images starting from a small set of head keypoints. To this purpose, we propose a regression model that exploits keypoints computed automatically by 2D…