Rigid Motion Gaussian Processes with SE(3) Kernel and Application to Visual Pursuit Control

This repository includes the simulation files for the L-CSS 2023 letter Rigid Motion Gaussian Processes for Visual Target Tracking and Rotation-Aware Kernels on SE3.

A YouTube video of the simulation is uploaded here.
Check the guide getting started for how to use this repository.

NOTE: Our asset licences do not permit us to share the unity asset files like the bird, drones, and forest environment. However, all used assets are freely available and can be obtained by yourself. Please refer to the assets guide on how to obtain the assets.

Please also refer to the following projects that are used by this repository:

• VPC Library
• ROS-TCP-Connector
• Docker-ROS

Key	Notes
	Fujita Laboratory, The University of Tokyo

How to clone this repository

Clone this repository with all its subdependencies to your local machine:

git clone --recurse-submodules <REPO_URL>

If you cloned the project without its submodules, please instruct git to load all submodules by this command within the project folder:

git submodule update --init --recursive

How to cite

The paper has not yet been fully published. The section will be updated in time.

Contact

In case of questions or possible collaborations, please visit our homepage:

https://www.scl.ipc.i.u-tokyo.ac.jp

Alternatively, you can contact us via e-mail:

Marco Omainska: marcoomainska _at_ g.ecc.u-tokyo.ac.jp