Josip Ćesić — accepted AI-conference papers

2017

Human motion estimation on Lie groups using IMU measurements

Vladimir Joukov, Josip Ćesić, Kevin Westermann, Ivan Marković, Dana Kulić, Ivan Petrović

IROS 2017poster

This paper proposes a new algorithm for human motion estimation using inertial measurement unit (IMU) measurements. We model the joints by matrix Lie groups, namely the special orthogonal groups SO(2) and SO(3), representing rotations in 2D and 3D space, respectively. The state space is defined by t…

Cited by 31 Source ↗Scholar ↗

2017

Revival of filtering based SLAM? Exactly sparse delayed state filter on Lie groups

Kruno Lenac, Josip Ćesić, Ivan Marković, Igor Cvišić, Ivan Petrović

IROS 2017poster

Simultaneous localization and mapping (SLAM) is a core element of every autonomous mobile robot. The underlying engine of a SLAM system is its back-end, which aims at optimally estimating the trajectory and map of the environment based on sensor data abstractions. Over the past decade, SLAM solution…

Cited by 5 Source ↗Scholar ↗