Convolutional Cross-View Pose Estimation

We propose a novel end-to-end method for cross-view pose estimation. Given a ground-level query image and an aerial image that covers the query's local neighborhood, the 3 Degrees-of-Freedom camera pose of the query is estimated by matching its image descriptor to descriptors of local regions within the aerial image. The...

Design of a Spacecraft Pose Estimation System Using Convolutional Neural Networks

Performing crucial activities for space exploration, e.g., debris removal and on-orbit servicing, systems for Rendezvous and Proximity Operations (RPO) are required to be autonomous and scalable. Within this context, learning-based relative navigation has gained significant traction due to the latest advancements in AI and the cost-effectiveness...

Robotic Grasping from Supermarket Shelves using Visual Servoing

This thesis focuses on closed-loop product grasping from supermarket shelves. The case is studied where the robot is in front of a shelf in an Albert Heijn supermarket and is tasked to pick a desired product from that shelf. Enabling a robot to achieve the product-picking task, however, is challenging. While many other robotic picking methods...

Object Pose estimation for automation of repetative tasks in cluttered environments

The agricultural industry is undergoing a transformative shift towards efficiency and large-scale production. Manual labor is unable to meet the increasing demand, leading to the development of automation techniques. During production, objects are adjusted and moved along a line to maintain productivity. This work investigates the feasibility of...

IntrApose: Monocular Driver 6 DOF Head Pose Estimation Leveraging Camera Intrinsics

We present intrApose, a novel method for continuous 6 DOF head pose estimation from a single camera image without prior detection or landmark localization. We argue that using camera intrinsics alongside the intensity information is essential for accurate pose estimation. The proposed head pose estimation framework is crop-aware and scale...

Efficient MSPSO Sampling for Object Detection and 6D Pose Estimation in 3D Scenes

The point pair feature (PPF) is widely used in industrial applications for estimating 6D poses of known objects from unrecognized point clouds. The key to the success of PPF matching is to establish correct 3D correspondences between the object and the scene, i.e., finding as many valid similar point pairs as possible. Thus, a set of...

Drift Reduction for Monocular Visual Odometry of Intelligent Vehicles Using Feedforward Neural Networks

In this paper, an approach for reducing the drift in monocular visual odometry algorithms is proposed based on a feedforward neural network. A visual odometry algorithm computes the incremental motion of the vehicle between the successive camera frames, then integrates these increments to determine the pose of the vehicle. The proposed neural...

A Novel Approach to Vehicle Pose Estimation Using Automotive Radar

The accurate estimation of the pose, i.e. position and heading, of a vehicle while driving is of high importance in autonomous driving applications. Right now the main tool to estimate the location of a vehicle is its GPS sensor. However, GPS data is known to be of very low accuracy, especially in urban environments, and is thus not ideal for...

Extending Attitude Estimation Capability for Agile Precision Target Tracking NanoSats: Hardware Characterisation, Configuration Selection, and Gyro-Stellar based Unscented Calibration Filter Synthesis

Though NanoSats are becoming increasingly capable of featuring active payloads, and acquiring inertial data at arcsec level precision; the payload operational duty-cycle largely remains limited by its data downlink capabilities. NanoSat laser communication terminal (LCT) promises 1 Gbps data downlink capabilities. However, LEO to ground free...

Robust Navigation Framework for Proximity Operations around Uncooperative Spacecraft: A monocular vision-based navigation approach using deep learning

Autonomous vision-based navigation is a crucial element for space applications involving a potentially uncooperative target, such as proximity operations for on-orbit servicing or active debris removal. Due to low mass and power characteristics, monocular vision sensors are an attractive choice for onboard vision-based navigation systems. This...

A Multi-modal Feedback System for Ergonomic Pose Estimation

This study proposes the creation of a multi-modal feedback system to guide humans towards ergonomic poses. A number of studies have tried to come up with methods where subjects are alerted upon crossing biomechanical or ergonomic thresholds while doing a task but not many have tried to successfully and efficiently guide users to ergonomic...

Traffic Gesture Classification for Intelligent Vehicles

Self-driving vehicles have shown rapid development in recent years and continue to move towards full autonomy. For high or full automation, self-driving vehicles will have to be able to address and solve a broad range of situations, one of which is interaction with traffic agents. For correct and save maneuvering through these situations,...

Automatic Cattle Lameness Assessment with Markerless Cattle Pose Estimation

Lameness is characterized by abnormal gait and is an indicator of various hoof diseases in cattle. Not only does this raise animal welfare issues, it also causes significant economic loss from reduced milk yield and fertility. Despite that, prevalence of lameness in dairy farms is high because farmers are unable to dedicate time and labor to...

Computer Vision for Gear Alignment Check and Condition Monitoring of Wind Turbine Gearboxes

Wind energy plays a major role in the ongoing energy transition. To accelerate the adoption of wind energy and thereby the energy transition, the Levelized Cost of Energy (LCOE) has to be minimized. Apart from increasing turbine performance, reducing turbine down-time can contribute to lowering the LCOE.Down-time is defined as time during which...

Multi-Rate Unscented Kalman Filtering for Pose Estimation: Using a car-like vehicle-platform

Pose estimation through fusion of GNSS with secondary sensors has long been an established field. With the developments surrounding autonomous navigation over the past decade this topic has gained extra importance. In the current literature GNSS based pose and localisation is often improved through fusion with either a IMU}or VS with the goal of...

Pose regression of 3D objects in monocular framework using a Convolutional Neural Network: Tracking multiple objects in real-time

In computer vision pose estimation of objects in everyday scenes is a basic need for a clearunderstanding of the surrounding environment, fields of interests include; augmented reality,surveillance, navigation, manipulation, and robotics in general. Pose estimation is a wellstudied topic, however fast and robust solutions are still hard to...

Pose estimation for mobile devices and augmented reality

In this thesis we introduce the reader to the field of Augmented Reality (AR) and describe aspects of an AR system. We show the current uses in treatment of phobias, games, sports and industry. We present the challenges for Optical See-Through Augmented Reality in which the real world is perceived normally by the user and is augmented with...