8 citations · 15 across the 12 of their papers we have counts for
9 papers · 1 filter
Social Robot Navigation through Constrained Optimization: a Comparative Study of Uncertainty-based Objectives and Constraints
Timur Akhtyamov, Aleksandr Kashirin, Aleksey Postnikov +1
This work is dedicated to the study of how uncertainty estimation of the human motion prediction can be embedded into constrained optimization techniques, such as Model Predictive…
DDPEN: Trajectory Optimisation With Sub Goal Generation Model
Aleksander Gamayunov, Aleksey Postnikov, Gonzalo Ferrer
Differential dynamic programming (DDP) is a widely used and powerful trajectory optimization technique, however, due to its internal structure, it is not exempt from local minima.…
Conditioned Human Trajectory Prediction using Iterative Attention Blocks
Aleksey Postnikov, Aleksander Gamayunov, Gonzalo Ferrer
Human motion prediction is key to understand social environments, with direct applications in robotics, surveillance, etc. We present a simple yet effective pedestrian trajectory p…
Transformer based trajectory prediction
Aleksey Postnikov, Aleksander Gamayunov, Gonzalo Ferrer
To plan a safe and efficient route, an autonomous vehicle should anticipate future motions of other agents around it. Motion prediction is an extremely challenging task which recen…
Comparison of modern open-source visual SLAM approaches
Dinar Sharafutdinov, Mark Griguletskii, Pavel Kopanev +5
SLAM is one of the most fundamental areas of research in robotics and computer vision. State of the art solutions has advanced significantly in terms of accuracy and stability. Unf…
Best Axes Composition: Multiple Gyroscopes IMU Sensor Fusion to Reduce Systematic Error
Marsel Faizullin, Gonzalo Ferrer
In this paper, we propose an algorithm to combine multiple cheap Inertial Measurement Unit (IMU) sensors to calculate 3D-orientations accurately. Our approach takes into account th…
Open-Source LiDAR Time Synchronization System by Mimicking GNSS-clock
Marsel Faizullin, Anastasiia Kornilova, Gonzalo Ferrer
Data fusion algorithms that employ LiDAR measurements, such as Visual-LiDAR, LiDAR-Inertial, or Multiple LiDAR Odometry and simultaneous localization and mapping (SLAM) rely on pre…
Be your own Benchmark: No-Reference Trajectory Metric on Registered Point Clouds
Anastasiia Kornilova, Gonzalo Ferrer
This paper addresses the problem of assessing trajectory quality in conditions when no ground truth poses are available or when their accuracy is not enough for the specific task -…
Random Fourier Features based SLAM
Yermek Kapushev, Anastasia Kishkun, Gonzalo Ferrer +1
This work is dedicated to simultaneous continuous-time trajectory estimation and mapping based on Gaussian Processes (GP). State-of-the-art GP-based models for Simultaneous Localiz…