139 citations · 987 across the 58 of their papers we have counts for
5 papers · 2 filters
Spatiotemporal Calibration of 3D Millimetre-Wavelength Radar-Camera Pairs
Emmett Wise, Qilong Cheng, Jonathan Kelly
Autonomous vehicles (AVs) fuse data from multiple sensors and sensing modalities to impart a measure of robustness when operating in adverse conditions. Radars and cameras are popu…
Generative Graphical Inverse Kinematics
Oliver Limoyo, Filip Marić, Matthew Giamou +3
Quickly and reliably finding accurate inverse kinematics (IK) solutions remains a challenging problem for many robot manipulators. Existing numerical solvers are broadly applicable…
A Self-Supervised, Differentiable Kalman Filter for Uncertainty-Aware Visual-Inertial Odometry
Brandon Wagstaff, Emmett Wise, Jonathan Kelly
Visual-inertial odometry (VIO) systems traditionally rely on filtering or optimization-based techniques for egomotion estimation. While these methods are accurate under nominal con…
Fast Object Inertial Parameter Identification for Collaborative Robots
Philippe Nadeau, Matthew Giamou, Jonathan Kelly
Collaborative robots (cobots) are machines designed to work safely alongside people in human-centric environments. Providing cobots with the ability to quickly infer the inertial p…
Learning to Detect Slip with Barometric Tactile Sensors and a Temporal Convolutional Neural Network
Abhinav Grover, Philippe Nadeau, Christopher Grebe +1
The ability to perceive object slip via tactile feedback enables humans to accomplish complex manipulation tasks including maintaining a stable grasp. Despite the utility of tactil…