87 citations · 385 across the 13 of their papers we have counts for
4 papers · 1 filter
DPC-Net: Deep Pose Correction for Visual Localization
Valentin Peretroukhin, Jonathan Kelly
We present a novel method to fuse the power of deep networks with the computational efficiency of geometric and probabilistic localization algorithms. In contrast to other methods…
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…
PROBE: Predictive Robust Estimation for Visual-Inertial Navigation
Valentin Peretroukhin, Lee Clement, Matthew Giamou +1
Navigation in unknown, chaotic environments continues to present a significant challenge for the robotics community. Lighting changes, self-similar textures, motion blur, and movin…
Improving Foot-Mounted Inertial Navigation Through Real-Time Motion Classification
Brandon Wagstaff, Valentin Peretroukhin, Jonathan Kelly
We present a method to improve the accuracy of a foot-mounted, zero-velocity-aided inertial navigation system (INS) by varying estimator parameters based on a real-time classificat…