3 papers
cs.RO2022
Stein Particle Filter for Nonlinear, Non-Gaussian State Estimation
Fahira Afzal Maken, Fabio Ramos, Lionel Ott
Estimation of a dynamical system's latent state subject to sensor noise and model inaccuracies remains a critical yet difficult problem in robotics. While Kalman filters provide th…
cs.RO2020
Estimating Motion Uncertainty with Bayesian ICP
Fahira Afzal Maken, Fabio Ramos, Lionel Ott
Accurate uncertainty estimation associated with the pose transformation between two 3D point clouds is critical for autonomous navigation, grasping, and data fusion. Iterative clos…
cs.RO2019
Speeding Up Iterative Closest Point Using Stochastic Gradient Descent
Fahira Afzal Maken, Fabio Ramos, Lionel Ott
Sensors producing 3D point clouds such as 3D laser scanners and RGB-D cameras are widely used in robotics, be it for autonomous driving or manipulation. Aligning point clouds produ…