28 citations · 91 across the 9 of their papers we have counts for
4 papers · 1 filter
PoET: Pose Estimation Transformer for Single-View, Multi-Object 6D Pose Estimation
Thomas Jantos, Mohamed Amin Hamdad, Wolfgang Granig +2
Accurate 6D object pose estimation is an important task for a variety of robotic applications such as grasping or localization. It is a challenging task due to object symmetries, c…
Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation with Online Calibration
Alessandro Fornasier, Yonhon Ng, Christian Brommer +3
Stochastic filters for on-line state estimation are a core technology for autonomous systems. The performance of such filters is one of the key limiting factors to a system's capab…
COP: Control & Observability-aware Planning
Christoph Böhm, Pascal Brault, Quentin Delamare +2
In this research, we aim to answer the question: How to combine Closed-Loop State and Input Sensitivity-based with Observability-aware trajectory planning? These possibly opposite…
Equivariant Filter Design for Inertial Navigation Systems with Input Measurement Biases
Alessandro Fornasier, Yonhon Ng, Robert Mahony +1
Inertial Navigation Systems (INS) are a key technology for autonomous vehicles applications. Recent advances in estimation and filter design for the INS problem have exploited geom…