On-board spacecraft relative pose estimation with high-order extended Kalman filter
Sign Up to like & getrecommendations! Published in 2019 at "Acta Astronautica"
DOI: 10.1016/j.actaastro.2018.11.020
Abstract: Abstract This paper analyzes the real-time relative pose estimation and attitude prediction of a tumbling target spacecraft through a high-order numerical extended Kalman filter based on differential algebra. Indeed, in the differential algebra framework, the… read more here.
Keywords: relative pose; pose estimation; spacecraft; extended kalman ... See more keywords
Relative Pose Estimation Based on Pairwise Range With Application to Aerobridge
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Access"
DOI: 10.1109/access.2020.3034228
Abstract: Relative pose estimation refers to estimate the relative attitude and translation between multiple platforms. For mobile platforms, tracking the relative pose with pairwise range is challenging for highly nonlinear associations between measurement and state. This… read more here.
Keywords: application aerobridge; relative pose; pose estimation; pairwise range ... See more keywords
UWB-VIO Fusion for Accurate and Robust Relative Localization of Round Robotic Teams
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3208354
Abstract: The relative pose estimation is one of the most fundamental components for multi-robot systems, while it still remains an open and challenging research topic in infrastructure-free environment. In this letter, we target improving the accuracy… read more here.
Keywords: relative pose; robotic teams; vio fusion; uwb vio ... See more keywords
Fast and Robust Differential Relative Pose Estimation With Radial Distortion
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Signal Processing Letters"
DOI: 10.1109/lsp.2021.3134593
Abstract: In this letter, we address the differential two-view geometry problem of estimating the relative pose between two consecutive frames in the presence of radial distortion. This problem is of both theoretical and practical interests and… read more here.
Keywords: relative pose; robust differential; radial distortion; differential relative ... See more keywords
Globally Optimal Relative Pose Estimation Using Affine Correspondences With Known Vertical Direction
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Instrumentation and Measurement"
DOI: 10.1109/tim.2023.3273650
Abstract: For self-driving cars, smartphones, and unmanned aerial vehicles (UAVs), cameras are typically used in combination with inertial measurement units (IMUs). The vertical direction of camera views can be determined based on partial IMU measurements, that… read more here.
Keywords: relative pose; globally optimal; using affine; vertical direction ... See more keywords
Relative Pose Estimation for Light Field Cameras Based on LF-Point-LF-Point Correspondence Model
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Image Processing"
DOI: 10.1109/tip.2022.3144891
Abstract: In this paper, we propose a relative pose estimation algorithm for micro-lens array (MLA)-based conventional light field (LF) cameras. First, by employing the matched LF-point pairs, we establish the LF-point-LF-point correspondence model to represent the… read more here.
Keywords: correspondence model; relative pose; point; pose estimation ... See more keywords
Trifocal Relative Pose From Lines at Points
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Pattern Analysis and Machine Intelligence"
DOI: 10.1109/tpami.2022.3226165
Abstract: We present a method for solving two minimal problems for relative camera pose estimation from three views, which are based on three view correspondences of (i) three points and one line and the novel case… read more here.
Keywords: relative pose; trifocal relative; pose lines; lines points ... See more keywords
Instant Visual Odometry Initialization for Mobile AR
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Transactions on Visualization and Computer Graphics"
DOI: 10.1109/tvcg.2021.3106505
Abstract: Mobile AR applications benefit from fast initialization to display world-locked effects instantly. However, standard visual odometry or SLAM algorithms require motion parallax to initialize (see Figure 1) and, therefore, suffer from delayed initialization. In this… read more here.
Keywords: odometry; initialization; pose estimator; visual odometry ... See more keywords
Relative Pose and Inertia Determination of Unknown Satellite Using Monocular Vision
Sign Up to like & getrecommendations! Published in 2018 at "International Journal of Aerospace Engineering"
DOI: 10.1155/2018/9731512
Abstract: The paper proposes a two-stage algorithm for autonomous relative motion determination of noncooperative and unknown object flying in space. The algorithm is based on image processing and can be applied to motion determination of space… read more here.
Keywords: determination; determination unknown; inertia determination; stage algorithm ... See more keywords
Relative pose estimation of uncooperative spacecraft using 2D-3D line correspondences.
Sign Up to like & getrecommendations! Published in 2021 at "Applied optics"
DOI: 10.1364/ao.428805
Abstract: The relative pose estimation of uncooperative spacecraft is an essential technology in space missions. However, lacking the prior knowledge of uncooperative targets brings great challenges to accurately measure their pose, which hinders their application in… read more here.
Keywords: estimation uncooperative; relative pose; uncooperative spacecraft; pose estimation ... See more keywords
Approximating net interactions among rigid domains
Sign Up to like & getrecommendations! Published in 2018 at "PLoS ONE"
DOI: 10.1371/journal.pone.0195618
Abstract: Many physical simulations aim at evaluating the net interaction between two rigid bodies, resulting from the cumulative effect of pairwise interactions between their constituents. This is manifested particularly in biomolecular applications such as hierarchical protein… read more here.
Keywords: rigid domains; number; interaction; function ... See more keywords