Search Results - "Trumpf, Jochen"

On Projective Reconstruction in Arbitrary Dimensions by Nasihatkon, Behrooz, Hartley, Richard, Trumpf, Jochen

“…We study the theory of projective reconstruction for multiple projections from an arbitrary dimensional projective space into lower-dimensional spaces. This…”
Get full text

Rotation Averaging by Hartley, Richard, Trumpf, Jochen, Dai, Yuchao, Li, Hongdong

“…This paper is conceived as a tutorial on rotation averaging, summarizing the research that has been carried out in this area; it discusses methods for…”
Get full text

Constructive observer design for Visual Simultaneous Localisation and Mapping by van Goor, Pieter, Mahony, Robert, Hamel, Tarek, Trumpf, Jochen

“…Visual Simultaneous Localisation and Mapping (VSLAM) is a well-known problem in robotics with a large range of applications. This paper presents a novel…”
Get full text

Generalized Weiszfeld Algorithms for Lq Optimization by Aftab, Khurrum, Hartley, Richard, Trumpf, Jochen

“…In many computer vision applications, a desired model of some type is computed by minimizing a cost function based on several measurements. Typically, one may…”
Get full text

Differential initial-value privacy and observability of linear dynamical systems by Wang, Lei, Manchester, Ian R., Trumpf, Jochen, Shi, Guodong

“…This paper studies the relationship between the differential privacy of initial values and the observability for general linear dynamical systems with Gaussian…”
Get full text

Minimum-Energy Filtering for Attitude Estimation by Zamani, Mohammad, Trumpf, Jochen, Mahony, Robert

“…In this work, we study minimum-energy filtering for attitude kinematics with vectorial measurements using Mortensen's approach. The exact form of a…”
Get full text

Controllability and Stabilizability of Networks of Linear Systems by Trumpf, Jochen, Trentelman, Harry L.

“…We provide necessary and sufficient conditions for the node systems, the graph adjacency matrix, and the input matrix such that a heterogeneous network of…”
Get full text

An homogeneous space geometry for simultaneous localisation and mapping by Mahony, Robert, Hamel, Tarek, Trumpf, Jochen

“…Simultaneous Localisation and Mapping (SLAM) is the archetypal chicken and egg problem: Localisation of a robot with respect to a map requires an estimate of…”
Get full text

A New Parametrization of Linear Observers by Blumthaler, Ingrid, Trumpf, Jochen

“…The estimation of unknown variables of a system, the plant, based on a set of known or measured variables is a fundamental and widely studied problem of system…”
Get full text

Observers for invariant systems on Lie groups with biased input measurements and homogeneous outputs by Khosravian, Alireza, Trumpf, Jochen, Mahony, Robert, Lageman, Christian

“…This paper provides a new observer design methodology for invariant systems whose state evolves on a Lie group with outputs in a collection of related…”
Get full text

Observers for linear time-varying systems by Trumpf, Jochen

“…We give characterizations and necessary and sufficient existence conditions for tracking and asymptotic observers for linear functions of the state of a linear…”
Get full text

A converse to the deterministic separation principle by Trumpf, Jochen, Trentelman, Harry L.

“…In the classical theory of finite-dimensional linear time-invariant systems in state space form the term deterministic separation principle refers to the…”
Get full text

Nonlinear observer design on SL(3) for homography estimation by exploiting point and line correspondences with application to image stabilization by Hua, Minh-Duc, Trumpf, Jochen, Hamel, Tarek, Mahony, Robert, Morin, Pascal

“…Although homography estimation from correspondences of mixed-type features, namely points and lines, has been relatively well studied with algebraic approaches…”
Get full text

Second-Order-Optimal Minimum-Energy Filters on Lie Groups by Saccon, Alessandro, Trumpf, Jochen, Mahony, Robert, Aguiar, A. Pedro

“…Systems on Lie groups naturally appear as models for physical systems with full symmetry. We consider the state estimation problem for such systems where both…”
Get full text

Lq-Closest-Point to Affine Subspaces Using the Generalized Weiszfeld Algorithm by Aftab, Khurrum, Hartley, Richard, Trumpf, Jochen

“…This paper presents a method for finding an L q -closest-point to a set of affine subspaces, that is a point for which the sum of the q -th power of orthogonal…”
Get full text

Convergence and State Reconstruction of Time-Varying Multi-Agent Systems From Complete Observability Theory by Anderson, Brian D. O., Guodong Shi, Trumpf, Jochen

“…We study continuous-time consensus dynamics for multi-agent systems with undirected switching interaction graphs. We establish a necessary and sufficient…”
Get full text

{L_q}$$ L q -Closest-Point to Affine Subspaces Using the Generalized Weiszfeld Algorithm by Aftab, Khurrum, Hartley, Richard, Trumpf, Jochen

Get full text

Gradient-Like Observers for Invariant Dynamics on a Lie Group by Lageman, C., Trumpf, J., Mahony, R.

“…This paper proposes a design methodology for non-linear state observers for invariant kinematic systems posed on finite dimensional connected Lie groups, and…”
Get full text

State estimation for invariant systems on Lie groups with delayed output measurements by Khosravian, Alireza, Trumpf, Jochen, Mahony, Robert, Hamel, Tarek

“…This paper proposes a state estimation methodology for invariant systems on Lie groups where outputs of the system are measured with delay. The proposed method…”
Get full text

closest-point to affine subspaces using the generalized Weiszfeld algorithm by Aftab, Khurrum, Hartley, Richard, Trumpf, Jochen

“…This paper presents a method for finding an [L.sub.q]-closest-point to a set of affine subspaces, that is a point for which the sum of the q-th power of…”
Get full text