1.2k citations · 2.1k across the 52 of their papers we have counts for
12 papers · 1 filter
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…
An Efficient Global Optimality Certificate for Landmark-Based SLAM
Connor Holmes, Timothy D. Barfoot
Modern state estimation is often formulated as an optimization problem and solved using efficient local search methods. These methods at best guarantee convergence to local minima,…
Are We Ready for Radar to Replace Lidar in All-Weather Mapping and Localization?
Keenan Burnett, Yuchen Wu, David J. Yoon +2
We present an extensive comparison between three topometric localization systems: radar-only, lidar-only, and a cross-modal radar-to-lidar system across varying seasonal and weathe…
Boreas: A Multi-Season Autonomous Driving Dataset
Keenan Burnett, David J. Yoon, Yuchen Wu +9
The Boreas dataset was collected by driving a repeated route over the course of one year, resulting in stark seasonal variations and adverse weather conditions such as rain and fal…