17 citations · 17 across the 2 of their papers we have counts for
12 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…
Inverse Kinematics for Serial Kinematic Chains via Sum of Squares Optimization
Filip Maric, Matthew Giamou, Soroush Khoubyarian +2
Inverse kinematics is a fundamental problem for articulated robots: fast and accurate algorithms are needed for translating task-related workspace constraints and goals into feasib…
Fast Manipulability Maximization Using Continuous-Time Trajectory Optimization
Filip Marić, Oliver Limoyo, Luka Petrović +3
A significant challenge in manipulation motion planning is to ensure agility in the face of unpredictable changes during task execution. This requires the identification and possib…
The Phoenix Drone: An Open-Source Dual-Rotor Tail-Sitter Platform for Research and Education
Yilun Wu, Xintong Du, Rikky Duivenvoorden +1
In this paper, we introduce the Phoenix drone: the first completely open-source tail-sitter micro aerial vehicle (MAV) platform. The vehicle has a highly versatile, dual-rotor desi…
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…