Autonomous rendezvous and capture is a current research interest with varied mission applications ranging from servicing to sample return. Especially interesting is the problem of rendezvous with an uncooperative tumbling target in orbit. One key to this process is the ability to estimate the relative pose and motion of the target object. This paper presents a particle filter method which utili...

A method is introduced to track the object’s motion and estimate its pose from multiple cameras. Firstly pose estimation from one camera is explained. We show that pose estimation from the corresponding feature points can be formed as a solution to Sylvester’s equation. Furthermore, we develop a distributed solution, which indicates that pose estimation from multiple cameras can be obtained fro...

Pose estimation is one of the vital issues in mobile robot navigation. Odometry data can be fused with absolute position measurements to provide better and more reliable pose estimation. This paper deals with the determination of better relative localization of a two wheeled differential drive robot by means of odometry by considering the influence of parameters namely weight, velocity, wheel p...

In this paper we consider the task of articulated 3D human pose estimation in challenging scenes with dynamic background and multiple people. Initial progress on this task has been achieved building on discriminatively trained part-based models that deliver a set of 2D body pose candidates that are then subsequently refined by reasoning in 3D [1, 4, 5]. The performance of such methods is limite...

We explore the potential of variance matrices to represent not just statistical error on object pose estimates but also partially constrained degrees of freedom. Using an iterated extended Kalman filter as an estimation tool, we generate, combine and predict partially constrained pose estimates from 3D range data. We find that partial constraints on the translation component of pose which occur...

Hand pose estimation has matured rapidly in recent years. The introduction of commodity depth sensors and a multitude of practical applications have spurred new advances. We provide an extensive analysis of the state-of-the-art, focusing on hand pose estimation from a single depth frame. To do so, we have implemented a considerable number of systems, and will release all software and evaluation...

In this work, we propose a new solution to 3D human pose estimation in videos. Instead of directly regressing the joint locations, draw inspiration from skeleton anatomy and decompose task into bone direction prediction length prediction, which locations can be completely derived. Our motivation is fact that lengths remain consistent across time. This promotes us develop effective techniques ut...