相关论文: Global Optimal Attitude Estimation using Uncertain…

Datasets collected from the open world unavoidably suffer from various forms of randomness or noiseness, leading to the ubiquity of aleatoric (data) uncertainty. Quantifying such uncertainty is particularly pivotal for object detection,…

We consider elliptic variational inequalities generated by obstacle type problems with thin obstacles. For this class of problems, we deduce estimates of the distance (measured in terms of the natural energy norm) between the exact solution…

An accurate and uncertainty-aware 3D human body pose estimation is key to enabling truly safe but efficient human-robot interactions. Current uncertainty-aware methods in 3D human pose estimation are limited to predicting the uncertainty of…

Motion prediction is a critical part of self-driving technology, responsible for inferring future behavior of traffic actors in autonomous vehicle's surroundings. In order to ensure safe and efficient operations, prediction models need to…

This work proposes an adaptive framework to solve a robust structural shape optimization problem governed by linear elasticity models that account for uncertainties in the loading and material inputs. A posteriori error estimators are…

We address the problem of attitude stabilization of a rigid body, in which neither the angular velocity nor the instantaneous measurements of the attitude are used in the feedback, only body vector measurements are needed. The design of 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…

Uncertainty estimation has been extensively studied in recent literature, which can usually be classified as aleatoric uncertainty and epistemic uncertainty. In current aleatoric uncertainty estimation frameworks, it is often neglected that…

This paper reviews the attitude control problems for rigid-body systems, starting from the attitude representation for rigid body kinematics. Highly redundant rotation matrix defines the attitude orientation globally and uniquely by 9…

This work provides a theoretical analysis for optimally solving the pose estimation problem using total least squares for vector observations from landmark features, which is central to applications involving simultaneous localization and…

We obtain a uniform $L^{\infty}(\Omega)$ a priori bound, for any positive weak solutions to elliptic problem with a nonlinearity $f$ slightly subcritical, slightly superlinear, and regularly varying. To achieve our result, we first obtain a…

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…

We obtain an error estimate between viscosity solutions and \delta-viscosity solutions of nonhomogeneous fully nonlinear uniformly elliptic equations. The main assumption, besides uniform ellipticity, is that the nonlinearity is…

Calibration of devices with different modalities is a key problem in robotic vision. Regular spatial objects, such as planes, are frequently used for this task. This paper deals with the automatic detection of ellipses in camera images, as…

The Perspective-n-Point (PnP) problem has been widely studied in the literature and applied in various vision-based pose estimation scenarios. However, existing methods ignore the anisotropy uncertainty of observations, as demonstrated in…

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…

The presence of outliers can significantly degrade the performance of ellipse fitting methods. We develop an ellipse fitting method that is robust to outliers based on the maximum correntropy criterion with variable center (MCC-VC), where a…

This paper investigates the estimation problem of the pose (orientation and position) and linear velocity of a rigid body, as well as the landmark positions, using an inertial measurement unit (IMU) and a monocular camera. First, we propose…

This paper addresses the attitude tracking of a rigid body using a quaternion description. Global finite-time attitude controllers are designed with three types of measurements, namely, full states, attitude plus constant-biased angular…