Search NASA⌕ Search

SEARCH · Search NASA

Results for “pose estimation”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 19 records
All sourcesNASA NTRSDOE OSTI
DOE OSTI2025

Analysis of Warped April Tag Impacts on Detection and Pose Estimation

This report evaluates the impact of geometric deformation on an April Tag, particularly when warped due to attachment on a curved surface, on its detectability and pose estimation performance. A comparative analysis was conducted using a flat April Tag as a control under identical experimental conditions, which involved recording video sequences with varying viewing angles. For detectability, the warped tag exhibited consistent detection failures at viewing angles beyond 40° and complete failures beyond 60°, whereas the flat tag maintained reliable detection across all angles. For pose estimation, measured by pose jitter (variation in rotation and translation), differences between the warped and flat tags were minimal and statistically insignificant, indicating robust performance even for the deformed tag. These findings suggest that while geometric warping reduces an April Tag’s detectability, its pose estimation accuracy remains relatively unaffected under the tested conditions.

42 ENGINEERING↗
DOE OSTI2022

Centimeter human skeleton pose estimation

A method, apparatus and system for human skeleton pose estimation includes synchronously capturing images of a human moving through an area from a plurality of different points of view, for each of the plurality of captured images, determining a bounding box that bounds the human in the captured image and identifying pixel locations of the bounding box in the image, for each of the plurality of captured images, determining 2D and single-view 3D skeletons from the pixel locations of the bounding box, determining a first, multi-view 3D skeleton using a combination of the 2D and single-view 3D skeletons, and optimizing the first, multi-view 3D skeleton to determine a final 3D skeleton pose for the human. The method, apparatus and system can further include illuminating the area with structured light during the capturing of the images of the human moving through the area.

Brookshire, Jonathan D.↗
DOE OSTI2024

Using Fiducial Markers for Pose Estimation of an OSWEC in a Wave Tank: Preprint

In this study, we consider a novel method of sensing the motion of a wave energy converter during testing in a wave flume under the influence of incoming waves. The wave energy converter considered in our research is an oscillating surge wave energy converter, which is a hinged paddle that responds to incoming waves. Motion sensing is normally done with inertial sensors, which can hinder the motion due to suspended cables that carry power and transmit signals. Our proposed method is contactless and can be implemented economically. A camera is used to record different marker patterns affixed to the moving paddle and the motion deduced by pose estimation algorithms. Fiducial markers are commonly used for robot localization and in augmented reality. There are many types of fiducial markers, including ArUco-type markers which are accurate, fast and robust. The system consists of markers attached to the paddle element and recorded using a machine vision camera. A pose estimation algorithm is then applied to the detected markers to estimate the tilt of the paddle. In this work, we examine the challenges of image acquisition and calibration for underwater targets, compare the motion obtained by this new system with a calibrated tilt sensor and identify areas where the new system may be superior.

computer vision↗
DOE OSTI2025

Pose Estimation for the Inspecta Project

In this addendum report we take the lessons learned from our initial generic object pose estimation research described in (Smartt, et al., 2025) and apply it to metal cup seals, which are attached to items after an international nuclear safeguards inspection (i.e., metal cup seals may be attached to containers of spent nuclear fuel after an inspector has measured and verified the material). We have also refined our software pipeline and training techniques since the final Inspecta report and will describe that process here. The objective of this task is to allow a robot to acquire images of the engraved seal characters to confirm that the correct seal is attached to the correct container. However, the seal may be attached in any orientation and therefore the robot manipulator arm with a camera needs to align with the normal face of the seal.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗
DOE OSTI2025

Scalable 3D reconstruction for X-ray single particle imaging with online machine learning

X-ray free-electron lasers offer unique capabilities for measuring the structure and dynamics of biomolecules, helping us understand the basic building blocks of life. Notably, high-repetition-rate free-electron lasers enable single particle imaging, where individual, weakly scattering biomolecules are imaged under near-physiological conditions with the opportunity to access fleeting states that cannot be captured in cryogenic or crystallized conditions. Existing X-ray single particle reconstruction algorithms, which estimate the particle orientation for each image independently, are slow and memory-intensive when handling the massive datasets generated by emerging free-electron lasers. Here, we introduce X-RAI (X-Ray single particle imaging with Amortized Inference), an online reconstruction framework that estimates the structure of 3D macromolecules from large X-ray single particle datasets. X-RAI consists of a convolutional encoder, which amortizes pose estimation over large datasets, as well as a physics-based decoder, which employs an implicit neural representation to enable high-quality 3D reconstruction in an end-to-end, self-supervised manner. We demonstrate that X-RAI achieves state-of-the-art performance for small-scale datasets in simulation and challenging experimental settings and demonstrate its unprecedented ability to process large datasets containing millions of diffraction images in an online fashion. These abilities signify a paradigm shift in X-ray single particle imaging towards real-time reconstruction.

Computer science↗
DOE OSTI2023

Robotic Systems integration for cleanroom SRF assembly at Fermilab

Superconducting Radio Frequency (SRF) cryomodule assembly is a critical process that demands the highest levels of contamination control in a cleanroom to ensure product quality and reliability. Within the cleanroom environment, human-driven activities remain the major source of uncontrolled particulate. Moreover, the precise manual alignment of components often exceeds expected timeframes, increasing the risk of particulate migration into the critical inner space of the SRF resonant cavity, and causing extended discomfort for workers. Automation comes as a natural solution to address these challenges. The goal of this activity is to set up and integrate a robotic system to support cavity coupler installation in the cleanroom environment. Initially, remote control of a 6-axis collaborative robot arm will be implemented as an introductory step towards automation in the cleanroom. Subsequently, the system will be further enhanced by integrating manipulation capabilities through an appropriate end-effector, and computer vision technology to enable accurate pose estimation. This comprehensive approach aims to achieve a fully automated and adaptable assembly process in the partially structured cleanroom environment, thereby enhancing efficiency and mitigating existing challenges for better product quality and workers safety.

42 ENGINEERING↗
DOE OSTI2020

Model-Free State Estimation Using Low-Rank Canonical Polyadic Decomposition

As electric grids experience high penetration levels of renewable generation, fundamental changes are required to address real-time situational awareness. Here, we utilize unique traits of tensors to devise a model-free situational awareness and energy forecasting framework for distribution networks. This work formulates the state of the network at multiple time instants as a three-way tensor; hence, recovering full state information of the network is tantamount to estimating all the values of the tensor. Given measurements received from µphasor measurement units and/or smart meters, the recovery of unobserved quantities is carried out using the low-rank canonical polyadic decomposition of the state tensor—that is, the state estimation task is posed as a tensor imputation problem utilizing observed patterns in measured (sampled) quantities. Two structured sampling schemes are considered, namely, asynchronous slab and fiber sampling. For both schemes, we present sufficient conditions on the number of sampled slabs and fibers that guarantee identifiability of the factors of the state tensor. Numerical results demonstrate the ability of the proposed framework to achieve high estimation accuracy in multiple sampling scenarios.

42 ENGINEERING↗
DOE OSTI2020

Characterization of partially observed epidemics through Bayesian inference: application to COVID-19

We demonstrate a Bayesian method for the "real-time'" characterization and forecasting of partially observed COVID-19 epidemic. Characterization is the estimation of infection spread parameters using daily counts of symptomatic patients.The method is designed to help guide medical resource allocation in the early epoch of the outbreak. The estimation problem is posed as one of Bayesian inference and solved using a Markov chain Monte Carlo technique. The data used in this study was sourced before the arrival of the second wave of infection in July 2020. The proposed modeling approach, when applied at the country level, generally provides accurate forecasts at the regional, state and country level. The epidemiological model detected the flattening of the curve in California, after public health measures were instituted.The method also detected different disease dynamics when applied to specific region of New Mexico

60 APPLIED LIFE SCIENCES↗
DOE OSTI2021

PRIME

SAND2021-0565 O PRIME is a modeling framework designed for the real-time characterization and forecasting of partially observed epidemics. The method is designed to help guide medical resource allocation in the early epoch of the outbreak. Characterization is the estimation of infection spread parameters using daily counts of symptomatic patients. The estimation problem is posed as one of Bayesian inference and solved using a Markov Chain Monte Carlo technique. The framework can accommodate multiple epidemic waves and can help identify different disease dynamics at the regional, state, and country levels. Examples are provided using publicly available COVID-19 data. Sandia National Laboratories is a multimission laboratory managed and operated by National Technology & Engineering Solutions of Sandia, LLC, a wholly owned subsidiary of Honeywell International Inc., for the U.S. Department of Energy’s National Nuclear Security Administration under contract DE-NA0003525.

Safta, Cosmin↗
DOE OSTI2024

PRIME - A Software Toolkit for the Characterization of Partially Observed Epidemics in a Bayesian Framework

PRIME is a modeling framework designed for the “real-time’” characterization and forecasting of partially observed epidemics. Characterization is the estimation of infection spread parameters using daily counts of symptomatic patients. The method is designed to help guide medical resource allocation in the early epoch of the outbreak. The estimation problem is posed as one of Bayesian inference and solved using a Markov Chain Monte Carlo technique. The framework can accommodate multiple epidemic waves and can help identify different disease dynamics at the regional, state, and country levels. We include examples using publicly available COVID-19 data.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2024

Uncertainty Quantification and Sensitivity Analysis for Quantitative Risk Assessments of Hydrogen Infrastructure

Typical QRAs provide deterministic estimates and understanding of risks posed but are constructed using significant assumptions and uncertainties due to limited data availability and historical momentum of using nominal estimates. This report presents a hydrogen QRA analysis using HyRAM+ that incorporates uncertainty with Latin hypercube sampling and sensitivity analysis using linear regression.

08 HYDROGEN↗
DOE OSTI2025

Laser Confocal Microscopy Uncertainty Quantification Study

At Los Alamos National Laboratory (LANL), the Storage Safety and Engineering (SSE) team completes annual surveillance on a subset of in-use interim nuclear material storage containers in fulfilment of requirements outlined in DOE Manual M 441.1-1. The containers are selected through several methods, such as subject matter expert judgement, random selection, and trending items. Following these selections, the SSE team has the capacity to complete surveillance on 15-20 containers each fiscal year, composed of a combination of SAVY-4000 and Hagan storage containers. Through previous work, the stainless-steel components of the containers have been identified as life limiting components, with an emphasis on the thin-walled bodies. The team is focused on understanding the extent of general and pitting corrosion, due to observations of extensive corrosion from stored contents and bag-out-bag degradation. Quantifying corrosion effects on the thin-walled stainless steel container bodies, and understanding potential impacts to the respective design release rates and design qualification release rates is paramount to the team. To date, destructive examination (DE) has proven to be the most insightful method for developing an understanding on the extent of corrosion on used containers. To standardize this process, the SSE team developed a destructive examination guide for analyzing stainless steel components of the containers. Corroded containers of interest are identified during surveillance activities and set aside for sectioning and characterization. Following sectioning, a major step in the DE workflow is the utilization of laser confocal microscopy for scanning corroded samples of interest and extracting data on pits, such as count, depth, and equivalent diameter. Adhering to the techniques outlined in the DE guide, analysis has been completed on two Hagans and one SAVY-4000 container, with the maximum pit depth recorded as 139.1 ± 22.82 μm on a 17.5 year old Hagan. The findings from the completed destructive examinations will be utilized to support lifetime extension efforts of the SAVY-4000 as the team can better estimate corrosion rates and effects over time based on stored contents and age. Due to the implications of observing extreme pit depths that approach the nominal container body thickness of .0299 inches (0.759 mm) or minimum container thickness of 0.236” (0.6 mm), high confidence in the LCM measurements is desired. Through testing outlined in, it was concluded that the total error ascribed to the 20x objective when conducting large image mapping on the Keyence VK-X3050 laser confocal microscope (LCM) relative to a 50x objective (reference) is 16.4% (± 8.73%). For shallow features on the order of pristine SAVY surface defects (i.e. 5 μm), this uncertainty is appropriate. However, this conservative estimate of total error poses a fundamental concern for pit depths that approach the thickness of the measured samples. That is, with the measurement uncertainty currently employed on all measurements, the LCM would be unable to resolve if a pit with a depth of 515 μm is through wall. Standard step height samples were procured and used in the present study to assess the resolution and repeatability of height measurements. Understanding the resolution and repeatability of height measurements was the first focus of the team as it relates directly to pit depth, which is of primary concern. Calibration gratings were procured to evaluate the resolution and repeatability of measurements in the X and Y axes of the LCM stage. The results of the depth uncertainty study were conducted first and presented in the subsequent sections. The planar uncertainty study is appended to the depth study with conclusions from both summarized at the end of the report.

36 MATERIALS SCIENCE↗
DOE OSTI2022

Multimodal parameter spaces of a complex multi-channel neuron model

One of the most common types of models that helps us to understand neuron behavior is based on the Hodgkin–Huxley ion channel formulation (HH model). A major challenge with inferring parameters in HH models is non-uniqueness: many different sets of ion channel parameter values produce similar outputs for the same input stimulus. Such phenomena result in an objective function that exhibits multiple modes (i.e., multiple local minima). This non-uniqueness of local optimality poses challenges for parameter estimation with many algorithmic optimization techniques. HH models additionally have severe non-linearities resulting in further challenges for inferring parameters in an algorithmic fashion. To address these challenges with a tractable method in high-dimensional parameter spaces, we propose using a particular Markov chain Monte Carlo (MCMC) algorithm, which has the advantage of inferring parameters in a Bayesian framework. The Bayesian approach is designed to be suitable for multimodal solutions to inverse problems. We introduce and demonstrate the method using a three-channel HH model. We then focus on the inference of nine parameters in an eight-channel HH model, which we analyze in detail. We explore how the MCMC algorithm can uncover complex relationships between inferred parameters using five injected current levels. The MCMC method provides as a result a nine-dimensional posterior distribution, which we analyze visually with solution maps or landscapes of the possible parameter sets. The visualized solution maps show new complex structures of the multimodal posteriors, and they allow for selection of locally and globally optimal value sets, and they visually expose parameter sensitivities and regions of higher model robustness. We envision these solution maps as enabling experimentalists to improve the design of future experiments, increase scientific productivity and improve on model structure and ideation when the MCMC algorithm is applied to experimental data.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2025

Stellar Mass Calibrations for Local Low-mass Galaxies

The stellar masses of galaxies are measured from integrated light via several methods—however, few of these methods were designed for low-mass (M ⋆ ≲ 10 8 M ⊙ ) “dwarf” galaxies, whose properties (e.g., stochastic star formation, low metallicity) pose unique challenges for estimating stellar masses. In this work, we quantify the precision and accuracy at which stellar masses of low-mass galaxies can be recovered using UV/optical/IR photometry. We use mock observations of 469 low-mass galaxies from a variety of models, including both semi-empirical models (GRUMPY and UniverseMachine-SAGA) and cosmological baryonic zoom-in simulations (MARVELous Dwarfs and FIRE-2), to test literature color–M ⋆ /L relations and multiwavelength spectral energy distribution (SED) mass estimators. We identify a list of “best practices” for measuring stellar masses of low-mass galaxies from integrated photometry. We find that literature color–M ⋆ /L relations are often unable to capture the bursty star formation histories (SFHs) of low-mass galaxies, and we develop an updated prescription for stellar mass based on g − r color that is better able to recover stellar masses for the bursty low-mass galaxies in our sample (with ∼0.1 dex precision). SED fitting can also precisely recover stellar masses of low-mass galaxies, but this requires thoughtful choices about the form of the assumed SFH: Parametric SFHs can underestimate stellar mass by as much as ∼0.4 dex, while nonparametric SFHs recover true stellar masses with insignificant offset (−0.03 ± 0.11 dex). Finally, we also caution that noninformative (wide) dust attenuation priors may introduce M ⋆ uncertainties of up to ∼0.6 dex.

de los Reyes, Mithi A. C. [Amherst College, MA (Un↗