2 papers
cs.RO2020
MRFMap: Online Probabilistic 3D Mapping using Forward Ray Sensor Models
Kumar Shaurya Shankar, Nathan Michael
Traditional dense volumetric representations for robotic mapping make simplifying assumptions about sensor noise characteristics due to computational constraints. We present a fram…
cs.RO2018
RaD-VIO: Rangefinder-aided Downward Visual-Inertial Odometry
Bo Fu, Kumar Shaurya Shankar, Nathan Michael
State-of-the-art forward facing monocular visual-inertial odometry algorithms are often brittle in practice, especially whilst dealing with initialisation and motion in directions…