MANERIKAR , Ninad

Accurate state estimation is a fundamental problem for the navigation of Autonomous vehicles. This is particularly important when the vehicle is navigating through cluttered environments or it has to navigate in close proximity to its physical surroundings in order to perform localization, obstacle avoidance, environmental mapping etc. Although...

In this paper we present a novel approach for homography observer design on the Special Linear group SL(3). This proposed approach aims at computing online, the optical flow estimation extracted from continuous homography obtained by capturing video sequences from aerial vehicles equipped with a monocular camera. The novelty of the paper lies...

An approach for tackling the classical problem of homography decomposition is presented. Its novelty lies in the design of two deterministic Riccati observers for addressing the homography decomposition problem instead of solving it on a frame-by-frame basis like traditional algebraic approaches. By exploiting the temporal correlation of image...

This paper revisits the problem of estimating the attitude, linear velocity and depth of an IMU-Camera with respect to a planar target. The considered solution relies on the measurement of the optical flow (extracted from the continuous homography) complemented with gyrometer and accelerometer measurements. The proposed deterministic observer...

This paper presents a novel approach for tackling the classical problem of homography decomposition. The novelty of this paper lies in the design of a deterministic Riccati observer for addressing the homography decomposition problem instead of solving it on a frame-by-frame basis like traditional algebraic approaches. By exploiting the...