相关论文: Deterministic Global Attitude Estimation
We consider the problem of fitting a centered ellipsoid to $n$ standard Gaussian random vectors in $\mathbb{R}^d$, as $n, d \to \infty$ with $n/d^2 \to \alpha > 0$. It has been conjectured that this problem is, with high probability,…
In this paper, we propose a method for initial camera pose estimation from just a single image which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment…
This paper studies a rigid body attitude tracking control problem with attitude measurements only, when angular velocity measurements are not available. An angular velocity observer is constructed such that the estimated angular velocity is…
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 work considers the problem of estimating the unscaled relative positions of a multi-robot team in a common reference frame from bearing-only measurements. Each robot has access to a relative bearing measurement taken from the local…
We address the problem of uncertainty quantification and propose measures of total, aleatoric, and epistemic uncertainty based on a known decomposition of (strictly) proper scoring rules, a specific type of loss function, into a divergence…
This article provides quasi-optimal a priori error estimates for an optimal control problem constrained by an elliptic obstacle problem where the finite element discretization is carried out using the symmetric interior penalty…
This paper investigates the problem of continuous attitude estimation on $SO(3)$ using continuous angular velocity and linear acceleration measurements as well as intermittent linear velocity and inertial vector measurements. First, we…
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…
Manipulability analysis is a methodology employed to assess the capacity of an articulated system, at a specific configuration, to produce motion or exert force in diverse directions. The conventional method entails generating a virtual…
This paper is concerned with the robust tracking control of linear uncertain systems, whose unknown system parameters and disturbances are bounded within ellipsoidal sets. We propose an adaptive robust control that can actively learn the…
Body posture influences human and robots performance in manipulation tasks, as appropriate poses facilitate motion or force exertion along different axes. In robotics, manipulability ellipsoids arise as a powerful descriptor to analyze,…
Nonparametric based methods have recently shown promising results in reconstructing human bodies from monocular images while model-based methods can help correct these estimates and improve prediction. However, estimating model parameters…
The quality of probabilistic forecasts is crucial for decision-making under uncertainty. While proper scoring rules incentivize truthful reporting of precise forecasts, they fall short when forecasters face epistemic uncertainty about their…
Past research on pedestrian trajectory forecasting mainly focused on deterministic predictions which provide only point estimates of future states. These future estimates can help an autonomous vehicle plan its trajectory and avoid…
Map based visual inertial localization is a crucial step to reduce the drift in state estimation of mobile robots. The underlying problem for localization is to estimate the pose from a set of 3D-2D feature correspondences, of which the…
Formal models of opinion formation commonly represent an individual's opinion by a value on a fixed opinion interval. We propose an alternative modeling method wherein interpretation is only provided to the relative positions of opinions…
A small variation of the circular shape of the hodograph theorem states that for every elliptical solution of the two-body problem, it is possible to find an appropriate inertial frame such that the speed of the bodies is constant. We use…
In this paper, the attitude tracking problem is considered using the rotation matrices. Due to the inherent topological restriction, it is impossible to achieve global attractivity with any continuous attitude control system on $SO(3)$.…
In this study, we propose a novel extended target tracking algorithm which is capable of representing the extent of dynamic objects as an ellipsoid with a time-varying orientation angle. A diagonal positive semi-definite matrix is defined…