139 citations · 987 across the 58 of their papers we have counts for
8 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…
How to Train a CAT: Learning Canonical Appearance Transformations for Direct Visual Localization Under Illumination Change
Lee Clement, Jonathan Kelly
Direct visual localization has recently enjoyed a resurgence in popularity with the increasing availability of cheap mobile computing power. The competitive accuracy and robustness…
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…
Monocular Visual Teach and Repeat Aided by Local Ground Planarity
Lee Clement, Jonathan Kelly, Timothy D. Barfoot
Visual Teach and Repeat (VT\&R) allows an autonomous vehicle to repeat a previously traversed route without a global positioning system. Existing implementations of VT\&R typically…
Entropy-Based Calibration of 2D Lidars to Egomotion Sensors
Jacob Lambert, Lee Clement, Matthew Giamou +1
This paper explores the use of an entropy-based technique for point cloud reconstruction with the goal of calibrating a lidar to a sensor capable of providing egomotion information…