858 citations
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6 papers · 2 filters
Benchmarking Simulated Robotic Manipulation through a Real World Dataset
Jack Collins, Jessie McVicar, David Wedlock +3
We present a benchmark to facilitate simulated manipulation; an attempt to overcome the obstacles of physical benchmarks through the distribution of a real world, ground truth data…
Geographical Map Registration and Fusion of Lidar-Aerial Orthoimagery in GIS
Siqi Yi, Stewart Worrall, Eduardo Nebot
Centimeter level globally accurate and consistent maps for autonomous vehicles navigation has long been achieved by on board real-time kinematic(RTK)-GPS in open areas. However whe…
Metrics for the Evaluation of localisation Robustness
Siqi Yi, Stewart Worrall, Eduardo Nebot
Robustness and safety are crucial properties for the real-world application of autonomous vehicles. One of the most critical components of any autonomous system is localisation. Du…
An Equivariant Observer Design for Visual Localisation and Mapping
Pieter van Goor, Robert Mahony, Tarek Hamel +1
This paper builds on recent work on Simultaneous Localisation and Mapping (SLAM) in the non-linear observer community, by framing the visual localisation and mapping problem as a c…
Multi-Process Fusion: Visual Place Recognition Using Multiple Image Processing Methods
Stephen Hausler, Adam Jacobson, Michael Milford
Typical attempts to improve the capability of visual place recognition techniques include the use of multi-sensor fusion and integration of information over time from image sequenc…
Geometric interpretation of the general POE model for a serial-link robot via conversion into D-H parameterization
Liao Wu, Ross Crawford, Jonathan Roberts
While Product of Exponentials (POE) formula has been gaining increasing popularity in modeling the kinematics of a serial-link robot, the Denavit-Hartenberg (D-H) notation is still…