Loop Closing for Visual Pose Tracking during Close-Range 3-D Modeling

2014 ◽  
pp. 390-401
Author(s):  
Klaus H. Strobl
Keyword(s):  
Pose Tracking ◽  
Close Range ◽  
Loop Closing

Real-Time Vision-Based Pose Tracking of Spacecraft in Close Range Using Geometric Curve Fitting

2020 ◽  
Vol 56 (6) ◽  
pp. 4567-4593
Author(s):  
Chang Liu ◽  
Wulong Guo ◽  
Weiduo Hu ◽  
Rongliang Chen ◽  
Jia Liu
Keyword(s):  
Real Time ◽  
Curve Fitting ◽  
Pose Tracking ◽  
Close Range

The Multiple-Vortex Structure of the El Reno, Oklahoma, Tornado on 31 May 2013

2018 ◽  
Vol 146 (8) ◽  
pp. 2483-2502 ◽  
Author(s):  
Howard B. Bluestein ◽  
Kyle J. Thiem ◽  
Jeffrey C. Snyder ◽  
Jana B. Houser
Keyword(s):  
Doppler Radar ◽  
Radar Data ◽  
Rapid Scan ◽  
X Band ◽  
Close Range ◽  
Formation And Evolution ◽  
Using Data ◽  
Secondary Vortices ◽  
The Right ◽  
Gust Front

Abstract This study documents the formation and evolution of secondary vortices associated within a large, violent tornado in Oklahoma based on data from a close-range, mobile, polarimetric, rapid-scan, X-band Doppler radar. Secondary vortices were tracked relative to the parent circulation using data collected every 2 s. It was found that most long-lived vortices (those that could be tracked for ≥15 s) formed within the radius of maximum wind (RMW), mainly in the left-rear quadrant (with respect to parent tornado motion), passing around the center of the parent tornado and dissipating closer to the center in the right-forward and left-forward quadrants. Some secondary vortices persisted for at least 1 min. When a Burgers–Rott vortex is fit to the Doppler radar data, and the vortex is assumed to be axisymmetric, the secondary vortices propagated slowly against the mean azimuthal flow; if the vortex is not assumed to be axisymmetric as a result of a strong rear-flank gust front on one side of it, then the secondary vortices moved along approximately with the wind.

Unscented Particle Filters with Refinement Steps for UAV Pose Tracking

2021 ◽  
Vol 102 (2) ◽  
Author(s):  
Nuno Pessanha Santos ◽  
Victor Lobo ◽  
Alexandre Bernardino
Keyword(s):  
Particle Filters ◽  
Pose Tracking

Extended state observer–based output feedback control for spacecraft pose tracking with control input saturation

2021 ◽  
pp. 095441002110177
Author(s):  
Kejie Gong ◽  
Ying Liao ◽  
Yafei Mei
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Finite Time ◽  
Output Feedback Control ◽  
State Observer ◽  
Extended State Observer ◽  
Control Input ◽  
Extended State ◽  
Pose Tracking ◽  
Control Scheme

This article proposed an extended state observer (ESO)–based output feedback control scheme for rigid spacecraft pose tracking without velocity feedback, which accounts for inertial uncertainties, external disturbances, and control input constraints. In this research, the 6-DOF tracking error dynamics is described by the exponential coordinates on SE(3). A novel continuous finite-time ESO is proposed to estimate the velocity information and the compound disturbance, and the estimations are utilized in the control law design. The ESO ensures a finite-time uniform ultimately bounded stability of the observation states, which is proved utilizing the homogeneity method. A non-singular finite-time terminal sliding mode controller based on super-twisting technology is proposed, which would drive spacecraft tracking the desired states. The other two observer-based controllers are also proposed for comparison. The superiorities of the proposed control scheme are demonstrated by theory analyses and numerical simulations.

scholarly journals Multitemporal–Multispectral UAS Surveys for Archaeological Research: The Case Study of San Vincenzo Al Volturno (Molise, Italy)

2021 ◽  
Vol 13 (14) ◽  
pp. 2719
Author(s):  
Nicodemo Abate ◽  
Alessia Frisetti ◽  
Federico Marazzi ◽  
Nicola Masini ◽  
Rosa Lasaponara
Keyword(s):  
Middle Ages ◽  
Principal Component ◽  
Archaeological Site ◽  
Archaeological Sites ◽  
Medieval Art ◽  
Archaeological Data ◽  
History Of ◽  
Close Range ◽  
Low Altitude

Unmanned aerial vehicles are currently the most used solution for cultural heritage in the field of close range and low altitude acquisitions. This work shows data acquired by multitemporal and multispectral aerial surveys in the archaeological site of San Vincenzo al Volturno (Molise, Italy). The site is one of the most important medieval archaeological sites in the world. It is a monastic settlement that was particularly rich during the early Middle Ages, and is famous for its two full-frescoed crypts which represent a milestone in the history of medieval art. Thanks to the use of multispectral aerial photography at different times of the year, an area not accessible to archaeological excavation has been investigated. To avoid redundancy of information and reduce the number of data to be analysed, a method based on spectral and radiometric enhancement techniques combined with a selective principal component analysis was used for the identification of useful information. The combination of already published archaeological data and new remote sensing discoveries, has allowed to better define the situation of the abbey during the building phases of the 8th/9th century and 11th century, confirming and adding new data to the assumptions made by archaeologists.

scholarly journals PoseRBPF: A Rao–Blackwellized Particle Filter for 6-D Object Pose Tracking

2021 ◽  
pp. 1-15
Author(s):  
Xinke Deng ◽  
Arsalan Mousavian ◽  
Yu Xiang ◽  
Fei Xia ◽  
Timothy Bretl ◽  
...  
Keyword(s):  
Particle Filter ◽  
Pose Tracking

scholarly journals A state-space model to derive motorboat noise effects on fish movement from acoustic tracking data

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Margarida Barcelo-Serra ◽  
Sebastià Cabanellas ◽  
Miquel Palmer ◽  
Marta Bolgan ◽  
Josep Alós
Keyword(s):  
State Space ◽  
Marine Pollution ◽  
State Space Model ◽  
Movement Pattern ◽  
Noise Pollution ◽  
Individual Variability ◽  
Fish Movement ◽  
Space Model ◽  
Noise Data ◽  
Close Range

AbstractMotorboat noise is recognized as a major source of marine pollution, however little is known about its ecological consequences on coastal systems. We developed a State Space Model (SSM) that incorporates an explicit dependency on motorboat noise to derive its effects on the movement of resident fish that transition between two behavioural states (swimming vs. hidden). To explore the performance of our model, we carried out an experiment where free-living Serranus scriba were tracked with acoustic tags, while motorboat noise was simultaneously recorded. We fitted the generated tracking and noise data into our SSM and explored if the noise generated by motorboats passing at close range affected the movement pattern and the probability of transition between the two states using a Bayesian approach. Our results suggest high among individual variability in movement patterns and transition between states, as well as in fish response to the presence of passing motorboats. These findings suggest that the effects of motorboat noise on fish movement are complex and require the precise monitoring of large numbers of individuals. Our SSM provides a methodology to address such complexity and can be used for future investigations to study the effects of noise pollution on marine fish.

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