Minimal Solutions to Generalized Three-View Relative Pose Problem

no code implementations • ICCV 2023 • Yaqing Ding, Chiang-Heng Chien, Viktor Larsson, Karl Åström, Benjamin Kimia

For a generalized (or non-central) camera model, the minimal problem for two views of six points has efficient solvers.

Quadrotor Control on $SU(2)\times R^3$ with SLAM Integration

no code implementations • 3 Oct 2021 • Marcus Greiff, Patrik Persson, Zhiyong Sun, Karl Åström, Anders Robertsson

We present a trajectory tracking controller for a quadrotor unmanned aerial vehicle (UAV) configured on $SU(2)\times R^3$, and relate this result to a family of geometric tracking controllers on $SO(3)\times R^3$.

Simultaneous Localization and Mapping