33 citations · 57 across the 17 of their papers we have counts for
28 papers · 1 filter
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…