1.2k citations · 2.1k across the 52 of their papers we have counts for
59 papers
BLT*: Informed Belief Localization Trees for Uncertainty-Aware Planning on Digital Twins
Elliot Preston-Krebs, Abhishek Goudar, Timothy D. Barfoot
We present Informed Belief Localization Trees* (Informed BLT*), a sampling-based belief space planning (BSP) algorithm that scales to large outdoor digital twins with point-cloud o…
Dr-LiSA: Direct Radar-Lidar Scan Alignment for SE(3) Localization
Alex Zhang, Daniil Lisus, Cedric Le Gentil +1
This paper introduces Dr-LiSA, a first-of-its-kind direct method for localizing 2D spinning radar intensity measurements in against 3D lidar maps. Radar-lidar localization…
SPARROW: Survival-POMCP for Adaptive Robot Routing, Observation, and Waiting
Hshmat Sahak, Aoran Jiao, Nicholas Rhinehart +1
Temporary obstacles that may block a robot's planned route create a sequential navigation problem: a robot must decide whether to wait for a blockage to clear, reroute, or acquire…
Do Spinning Radar Doppler Velocity Measurements Improve Vehicle Detection and Tracking?
Eric Xie, Daniil Lisus, Timothy D. Barfoot
Spinning frequency-modulated continuous-wave (FMCW) radars have been gaining popularity in autonomous vehicle perception on account of their robustness to adverse weather condition…
PIVOT: Physically Informed Vision-Language Off-Road Traversability for Field Robot Navigation
Aoran Jiao, Wenda Zhao, Hshmat Sahak +1
Terrain assessment is a critical capability for off-road mobile robots, enabling safe and reliable navigation through unstructured and geometrically complex environments. Conventio…
DRT&R: Direct Radar Teach & Repeat
Alexander Krawciw, Daniil Lisus, Cedric Le Gentil +1
Radar-based navigation is appealing for its robustness to adverse conditions involving airborne particles, such as precipitation, dust, fog, and smoke, that can cause lidar-based s…
Integral Forms in Matrix Lie Groups
Timothy D Barfoot
Matrix Lie groups provide a language for describing motion in such fields as robotics, computer vision, and graphics. When using these tools, we are often faced with turning infini…
STAR-loc: Dataset for STereo And Range-based localization
Frederike Dümbgen, Mohammed A. Shalaby, Connor Holmes +4
This document contains a detailed description of the STAR-loc dataset. For a quick starting guide please refer to the associated Github repository (https://github.com/utiasASRL/sta…
Field Testing of a Stochastic Planner for ASV Navigation Using Satellite Images
Philip Huang, Tony Wang, Florian Shkurti +1
We introduce a multi-sensor navigation system for autonomous surface vessels (ASV) intended for water-quality monitoring in freshwater lakes. Our mission planner uses satellite ima…
Optimal Initialization Strategies for Range-Only Trajectory Estimation
Abhishek Goudar, Frederike Dümbgen, Timothy D. Barfoot +1
Range-only (RO) pose estimation involves determining a robot's pose over time by measuring the distance between multiple devices on the robot, known as tags, and devices installed…
Toward Certifying Maps for Safe Registration-based Localization Under Adverse Conditions
Johann Laconte, Daniil Lisus, Timothy D. Barfoot
In this paper, we propose a way to model the resilience of the Iterative Closest Point (ICP) algorithm in the presence of corrupted measurements. In the context of autonomous vehic…
Continuous-Time Range-Only Pose Estimation
Abhishek Goudar, Timothy D. Barfoot, Angela P. Schoellig
Range-only (RO) localization involves determining the position of a mobile robot by measuring the distance to specific anchors. RO localization is challenging since the measurement…
A New Wave in Robotics: Survey on Recent mmWave Radar Applications in Robotics
Kyle Harlow, Hyesu Jang, Timothy D. Barfoot +2
We survey the current state of millimeterwave (mmWave) radar applications in robotics with a focus on unique capabilities, and discuss future opportunities based on the state of th…
Towards Consistent Batch State Estimation Using a Time-Correlated Measurement Noise Model
David J. Yoon, Timothy D. Barfoot
In this paper, we present an algorithm for learning time-correlated measurement covariances for application in batch state estimation. We parameterize the inverse measurement covar…
Need for Speed: Fast Correspondence-Free Lidar-Inertial Odometry Using Doppler Velocity
David J. Yoon, Keenan Burnett, Johann Laconte +5
In this paper, we present a fast, lightweight odometry method that uses the Doppler velocity measurements from a Frequency-Modulated Continuous-Wave (FMCW) lidar without data assoc…
Self-Supervised Feature Learning for Long-Term Metric Visual Localization
Yuxuan Chen, Timothy D. Barfoot
Visual localization is the task of estimating camera pose in a known scene, which is an essential problem in robotics and computer vision. However, long-term visual localization is…
Along Similar Lines: Local Obstacle Avoidance for Long-term Autonomous Path Following
Jordy Sehn, Yuchen Wu, Timothy D. Barfoot
Visual Teach and Repeat 3 (VT&R3), a generalization of stereo VT&R, achieves long-term autonomous path-following using topometric mapping and localization from a single rich sensor…
Continuum Robot State Estimation Using Gaussian Process Regression on
Sven Lilge, Timothy D. Barfoot, Jessica Burgner-Kahrs
Continuum robots have the potential to enable new applications in medicine, inspection, and countless other areas due to their unique shape, compliance, and size. Excellent progess…
Stochastic Planning for ASV Navigation Using Satellite Images
Yizhou Huang, Hamza Dugmag, Timothy D. Barfoot +1
Autonomous surface vessels (ASV) represent a promising technology to automate water-quality monitoring of lakes. In this work, we use satellite images as a coarse map and plan samp…
Safe and Smooth: Certified Continuous-Time Range-Only Localization
Frederike Dümbgen, Connor Holmes, Timothy D. Barfoot
A common approach to localize a mobile robot is by measuring distances to points of known positions, called anchors. Locating a device from distance measurements is typically posed…
Picking Up Speed: Continuous-Time Lidar-Only Odometry using Doppler Velocity Measurements
Yuchen Wu, David J. Yoon, Keenan Burnett +4
Frequency-Modulated Continuous-Wave (FMCW) lidar is a recently emerging technology that additionally enables per-return instantaneous relative radial velocity measurements via the…
The Foreseeable Future: Self-Supervised Learning to Predict Dynamic Scenes for Indoor Navigation
Hugues Thomas, Jian Zhang, Timothy D. Barfoot
We present a method for generating, predicting, and using Spatiotemporal Occupancy Grid Maps (SOGM), which embed future semantic information of real dynamic scenes. We present an a…
A Fine Line: Total Least-Squares Line Fitting as QCQP Optimization
Timothy D Barfoot, Connor Holmes, Frederike Dumbgen
This note uses the Total Least-Squares (TLS) line-fitting problem as a canvas to explore some modern optimization tools. The contribution is meant to be tutorial in nature. The TLS…
On the Eigenstructure of Rotations and Poses: Commonalities and Peculiarities
Gabriele M T D'Eleuterio, Timothy D Barfoot
Rotations and poses are ubiquitous throughout many fields of science and engineering such as robotics, aerospace, computer vision and graphics. In this paper, we provide a complete…