The accuracy of relative pose estimation is an important foundation for ensuring the safety and stability of autonomous aerial refueling (AAR) of unmanned aerial vehicles (UAV), and in response to this problem, a relative pose estimation method of UA...
Vision-based relative pose estimation serves as a core technology for high-precision localization in autonomous vehicles and mobile platforms. To overcome the limitations of conventional three-view pose estimation methods that rely heavily on dense f...
High-precision positioning is the foundation for the functionality of various intelligent agents. In complex environments, such as urban canyons, relative pose estimation using cameras is a crucial step in high-precision positioning. To take advantag...
Accurate and robust relative pose estimation is the first step in ensuring the success of an active debris removal mission. This paper introduces a novel method to detect structural markers on the European Space Agency’s Environmental Satellite...
The q-method for pose estimation utilizes on-board measurement vectors of reference objects to calculate air vehicle position and orientation with respect to an Inertial frame. This new method solves for the quaternion eigenvalue solution of the opti...
In this work we introduce a relative localization method that estimates the coordinate frame transformation between two devices based on distance measurements. We present a linear algorithm that calculates the relative pose in 2D or 3D with four degr...
Accurate relative pose estimation between unmanned aerial vehicles (UAVs) is a key requirement for cooperative navigation, formation control, and swarm operation in GNSS-denied environments. In multi-UAV systems, monocular vision is attractive due to...
Installing multi-camera systems and inertial measurement units (IMUs) in self-driving cars, micro aerial vehicles, and robots is becoming increasingly common. An IMU provides the vertical direction, allowing coordinate frames to be aligned in a commo...
Both three-dimensional (3D) object recognition and pose estimation are open topics in the research community. These tasks are required for a wide range of applications, sometimes separately, sometimes concurrently. Many different algorithms have been...
Determination of the relative pose of satellites is essential in space rendezvous operations and on-orbit servicing missions. The key problems are the adoption of suitable sensor on board of a chaser and efficient techniques for pose estimation. This...
Relative pose estimation of a satellite is an essential task for aerospace missions, such as on-orbit servicing and close proximity formation flying. However, the changeable situation makes precise relative pose estimation difficult. This paper intro...
Accurate self-localization and mutual state estimation are essential for autonomous aerial swarm operations in cooperative exploration, target tracking, and search-and-rescue missions. However, achieving reliable formation positioning in GNSS-denied...
This work proposes a novel multi-camera system-based method for relative pose estimation and virtual–physical collision detection for anchor digging equipment. It is dedicated to addressing the critical challenges of achieving accurate relative...
In this paper, a recently proposed
Drones are typically built with integrated cameras and inertial measurement units (IMUs). It is crucial to achieve drone attitude control through relative pose estimation using cameras. IMU drift can be ignored over short periods. Based on this premi...
Accurately estimating the six degree of freedom (6-DoF) pose of objects in images is essential for a variety of applications such as robotics, autonomous driving, and autonomous, AI, and vision-based navigation for unmanned aircraft systems (UAS). De...
This paper tackles the problem of spacecraft relative navigation to support the reach and capture of a passively cooperative space target using a chaser platform equipped with a robotic arm in the frame of future operations such as On Orbit Servicing...
It is difficult to determine the accurate pose of non-cooperative space targets in on-orbit servicing (OOS). The visual camera is easily affected by the extreme light environment in space, and the scanning lidar will have motion distortion when the t...
Scan matching, an approach to recover the relative position and orientation of two laser scans, is a very important technique for indoor positioning and indoor modeling. The iterative closest point (ICP) algorithm and its variants are the most well-k...
This paper proposes an autonomous algorithm to determine the relative pose between the chaser spacecraft and the uncooperative space target, which is essential in advanced space applications, e.g., on-orbit serving missions. The proposed method, name...
Estimating the three-dimensional (3D) pose of real objects using only a single RGB image is an interesting and difficult topic. This study proposes a new pipeline to estimate and represent the pose of an object in an RGB image only with the 4-DoF ann...
This study presents a rigorous error analysis of a previously published estimator that determines the single-frame relative pose of two rigid bodies from batches of point and unit vector measurements. The estimator solves a constrained least-squares...
Techniques for measuring the position and orientation of an object from corresponding images are based on the principles of epipolar geometry in the computer vision and photogrammetric fields. Contributing to their importance, many different approach...
In this paper, the Relative Pose based Redundancy Removal (RPRR) scheme is presented, which has been designed for mobile RGB-D sensor networks operating under bandwidth-constrained operational scenarios. The scheme considers a multiview scenario in w...
The photogrammetric processing of thermal infrared (TIR) images deals with several difficulties. TIR images ordinarily have low-resolution and the contrast of the images is very low. These factors strongly complicate the photogrammetric processing, e...
This paper presents a new tracking system for autonomous underwater vehicles (AUVs) navigating in a close formation, based on computer vision and the use of active light markers. While acoustic localization can be very effective from medium to long d...
The determination of precise and reliable interior (IO) and relative (RO) orientation parameters for thermal infrared (TIR) cameras is critical for their subsequent use in photogrammetric processes. Although 2D calibration boards have become the pred...
The underwater docking of autonomous underwater vehicles (AUVs) is conducive to energy supply and data exchange. A vision-based high-precision estimation of “the positions and poses of an AUV relative to a docking station” (PPARD) is a ne...
Spacecraft relative pose estimation for an uncooperative spacecraft is challenging because the target spacecraft neither provides sensor information to a chaser spacecraft nor contains markers that assist vision-based navigation. Moreover, the chaser...
This paper proposes a pose estimation algorithm using INS and LiDAR for precise cooperative relative navigation between target and chaser spacecraft in a close docking mission scenario. Previous cooperative algorithms have proposed estimating positio...
This paper presents a visual localization system for underwater robots, aimed at achieving high-precision relative positioning and dynamic target tracking. A 3D AprilTag reference structure is constructed using a cubic configuration, and a high-resol...
How to determine the relative pose between the chaser spacecraft and the high-speed tumbling target spacecraft at close range, which is an essential step in space proximity missions, is very challenging. This paper proposes a LiDAR-based pose trackin...
We propose a novel approach, GMIW-Pose, to estimate the relative camera poses between two views. This method leverages a Transformer-based global matching module to obtain robust 2D–2D dense correspondences, followed by iterative refinement of...
In on-orbit services, the relative position and attitude estimation of non-cooperative spacecraft has become the key issues to be solved in many space missions. Because of the lack of prior knowledge about manual marks and the inability to communicat...
In this paper, we propose a robust and integrated visual odometry framework exploiting the optical flow and feature point method that achieves faster pose estimate and considerable accuracy and robustness during the odometry process. Our method utili...
Accurate and robust camera pose estimation is essential for high-level applications such as augmented reality and autonomous driving. Despite the development of global feature-based camera pose regression methods and local feature-based matching guid...
Two-dimensional (2D) multi-person pose estimation and three-dimensional (3D) root-relative pose estimation from a monocular RGB camera have made significant progress recently. Yet, real-world applications require depth estimations and the ability to...
The autonomous landing of unmanned aerial vehicles (UAVs) relies on a precise relative 6D pose between platforms. Existing model-based monocular pose estimation methods need an accurate 3D model of the target. They cannot handle the absence of an acc...
There are many inertial sensor-based foot pose estimation algorithms. In this paper, we present a methodology to improve the accuracy of foot pose estimation using two low-cost distance sensors (VL6180) in addition to an inertial sensor unit. The dis...
Planar fiducial markers are commonly used to estimate a pose of a camera relative to the marker. This information can be combined with other sensor data to provide a global or local position estimate of the system in the environment using a state est...
Object recognition and pose estimation is an important task in computer vision. A pose estimation algorithm using only depth information is proposed in this paper. Foreground and background points are distinguished based on their relative positions w...
Aiming at the relative pose estimation of non-cooperative targets in space traffic management tasks, a two-step pose estimation method, based on spatially intersecting straight lines, is proposed, which mainly includes three aspects: (1) Use binocula...
Line scanning cameras, which capture only a single line of pixels, have been increasingly used in ground based mobile or robotic platforms. In applications where it is advantageous to directly georeference the camera data to world coordinates, an acc...
Human pose estimation is the basis of many downstream tasks, such as motor intervention, behavior understanding, and human–computer interaction. The existing human pose estimation methods rely too much on the similarity of keypoints at the imag...
To address the limitations of inadequate real-time performance and robustness encountered in estimating the pose of non-cooperative spacecraft during on-orbit missions, a novel method of feature point distribution selection learning is proposed. This...
Three-dimensional human pose estimation has made significant advancements through the integration of deep learning techniques. This survey provides a comprehensive review of recent 3D human pose estimation methods, with a focus on monocular images, v...
Pose estimation is one of the most complicated and compromising problems for underground mining machine tracking, and it is particularly important for hydraulic support autonomous following mining machine (AFM) policy-making system. In this paper, a...
This paper presents a customized three-dimensional template matching technique for autonomous pose determination of uncooperative targets. This topic is relevant to advanced space applications, like active debris removal and on-orbit servicing. The p...
Augmented reality (AR) has become a research focus in computer vision and graphics, with growing applications driven by advances in artificial intelligence and the emergence of the metaverse. Panoramic cameras offer new opportunities for AR due to th...
Although the performance of 3D human pose and shape estimation methods has improved considerably in recent years, existing approaches typically generate 3D poses defined in a camera or human-centered coordinate system. This makes it difficult to esti...
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