3 citations · 7 across the 10 of their papers we have counts for
11 papers
QuadConv: Quadrature-Based Convolutions with Applications to Non-Uniform PDE Data Compression
Kevin Doherty, Cooper Simpson, Stephen Becker +1
We present a new convolution layer for deep learning architectures which we call QuadConv -- an approximation to continuous convolution via quadrature. Our operator is developed ex…
SCORE: A Second-Order Conic Initialization for Range-Aided SLAM
Alan Papalia, Joseph Morales, Kevin J. Doherty +2
We present a novel initialization technique for the range-aided simultaneous localization and mapping (RA-SLAM) problem. In RA-SLAM we consider measurements of point-to-point dista…
Discrete-Continuous Smoothing and Mapping
Kevin J. Doherty, Ziqi Lu, Kurran Singh +1
We describe a general approach for maximum a posteriori (MAP) inference in a class of discrete-continuous factor graphs commonly encountered in robotics applications. While there a…
Spectral Measurement Sparsification for Pose-Graph SLAM
Kevin J. Doherty, David M. Rosen, John J. Leonard
Simultaneous localization and mapping (SLAM) is a critical capability in autonomous navigation, but in order to scale SLAM to the setting of "lifelong" SLAM, particularly under mem…
SLAM-Supported Self-Training for 6D Object Pose Estimation
Ziqi Lu, Yihao Zhang, Kevin Doherty +3
Recent progress in object pose prediction provides a promising path for robots to build object-level scene representations during navigation. However, as we deploy a robot in novel…
Performance Guarantees for Spectral Initialization in Rotation Averaging and Pose-Graph SLAM
Kevin J. Doherty, David M. Rosen, John J. Leonard
In this work we present the first initialization methods equipped with explicit performance guarantees adapted to the pose-graph simultaneous localization and mapping (SLAM) and ro…