17 citations · 17 across the 2 of their papers we have counts for
3 papers · 1 filter
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…
Probabilistic Regression of Rotations using Quaternion Averaging and a Deep Multi-Headed Network
Valentin Peretroukhin, Brandon Wagstaff, Matthew Giamou +1
Accurate estimates of rotation are crucial to vision-based motion estimation in augmented reality and robotics. In this work, we present a method to extract probabilistic estimates…
Sparse Bounded Degree Sum of Squares Optimization for Certifiably Globally Optimal Rotation Averaging
Matthew Giamou, Filip Maric, Valentin Peretroukhin +1
Estimating unknown rotations from noisy measurements is an important step in SfM and other 3D vision tasks. Typically, local optimization methods susceptible to returning suboptima…