110 citations · 135 across the 9 of their papers we have counts for
9 papers
The Importance of Coordinate Frames in Dynamic SLAM
Jesse Morris, Yiduo Wang, Viorela Ila
Most Simultaneous localisation and mapping (SLAM) systems have traditionally assumed a static world, which does not align with real-world scenarios. To enable robots to safely navi…
PEBO-SLAM: Observer design for visual inertial SLAM with convergence guarantees
Bowen Yi, Chi Jin, Lei Wang +3
This paper introduces a new linear parameterization to the problem of visual inertial simultaneous localization and mapping (VI-SLAM) -- without any approximation -- for the case o…
Robust Ego and Object 6-DoF Motion Estimation and Tracking
Jun Zhang, Mina Henein, Robert Mahony +1
The problem of tracking self-motion as well as motion of objects in the scene using information from a camera is known as multi-body visual odometry and is a challenging task. This…
VDO-SLAM: A Visual Dynamic Object-aware SLAM System
Jun Zhang, Mina Henein, Robert Mahony +1
Combining Simultaneous Localisation and Mapping (SLAM) estimation and dynamic scene modelling can highly benefit robot autonomy in dynamic environments. Robot path planning and obs…
Dynamic SLAM: The Need For Speed
Mina Henein, Jun Zhang, Robert Mahony +1
The static world assumption is standard in most simultaneous localisation and mapping (SLAM) algorithms. Increased deployment of autonomous systems to unstructured dynamic environm…
A Geometric Observer for Scene Reconstruction Using Plenoptic Cameras
Sean G. P. O'Brien, Jochen Trumpf, Viorela Ila +1
This paper proposes an observer for generating depth maps of a scene from a sequence of measurements acquired by a two-plane light-field (plenoptic) camera. The observer is based o…