139 citations · 987 across the 58 of their papers we have counts for
6 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…
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…
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…
Learning Matchable Image Transformations for Long-term Metric Visual Localization
Lee Clement, Mona Gridseth, Justin Tomasi +1
Long-term metric self-localization is an essential capability of autonomous mobile robots, but remains challenging for vision-based systems due to appearance changes caused by ligh…