17 citations · 17 across the 2 of their papers we have counts for
4 papers · 1 filter
Self-Supervised Deep Pose Corrections for Robust Visual Odometry
Brandon Wagstaff, Valentin Peretroukhin, Jonathan Kelly
We present a self-supervised deep pose correction (DPC) network that applies pose corrections to a visual odometry estimator to improve its accuracy. Instead of regressing inter-fr…
Robust Data-Driven Zero-Velocity Detection for Foot-Mounted Inertial Navigation
Brandon Wagstaff, Valentin Peretroukhin, Jonathan Kelly
We present two novel techniques for detecting zero-velocity events to improve foot-mounted inertial navigation. Our first technique augments a classical zero-velocity detector by i…
Certifiably Globally Optimal Extrinsic Calibration from Per-Sensor Egomotion
Matthew Giamou, Ziye Ma, Valentin Peretroukhin +1
We present a certifiably globally optimal algorithm for determining the extrinsic calibration between two sensors that are capable of producing independent egomotion estimates. Thi…
PROBE-GK: Predictive Robust Estimation using Generalized Kernels
Valentin Peretroukhin, William Vega-Brown, Nicholas Roy +1
Many algorithms in computer vision and robotics make strong assumptions about uncertainty, and rely on the validity of these assumptions to produce accurate and consistent state es…