Event-based cameras have become increasingly popular for tracking fast-moving objects due to their high temporal resolution, low latency, and high dynamic range. In this paper, we propose a novel algorithm for tracking event blobs using raw…
This paper builds on recent work on Simultaneous Localisation and Mapping (SLAM) in the non-linear observer community, by framing the visual localisation and mapping problem as a continuous-time equivariant observer design problem on the sy…
Event cameras output asynchronous events to represent intensity changes with a high temporal resolution, even under extreme lighting conditions. Currently, most of the existing works use a single contrast threshold to estimate the intensity…
Observers for systems with Lie group symmetries are an active area of research that is seeing significant impact in a number of practical domains, including aerospace, robotics, and mechatronics. This paper builds on the theory of the recen…
This paper addresses the problem of estimating the attitude and angular velocity of a rigid object by exploiting its second order kinematic model. The approach is particularly useful in cases where angular velocity measurements are not avai…
Inertial Velocity-Aided Attitude (VAA), the estimation of the velocity and attitude of a vehicle using gyroscope, accelerometer, and inertial-frame velocity (e.g. GPS velocity) measurements, is an important problem in the control of Remotel…
Recent advances in nonlinear observer design for homography estimation have exploited the Lie group structure of SL(3). Existing work requires the group (homography) velocity input, while the available measurements are typically only the ca…
Visual Inertial Odometry (VIO) is of great interest due the ubiquity of devices equipped with both a monocular camera and Inertial Measurement Unit (IMU). Methods based on the extended Kalman Filter remain popular in VIO due to their low me…
The trajectory tracking problem is a fundamental control task in the study of mechanical systems. A key construction in tracking control is the error or difference between an actual and desired trajectory. This construction also lies at the…
Visual Simultaneous Localisation and Mapping (VSLAM) is a well-known problem in robotics with a large range of applications. This paper presents a novel approach to VSLAM by lifting the observer design to a novel Lie group V SLAM n (3) on w…
This letter re-visits the problem of visual-inertial navigation system (VINS) and presents a novel filter design we dub the multi state constraint equivariant filter (MSCEqF, in analogy to the well known MSCKF). We define a symmetry group a…
The kinematics of many control systems, especially in the robotics field, naturally live on smooth manifolds. Most classical state-estimation algorithms, including the extended Kalman filter, are posed on Euclidean space. Although any filte…