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cs.RO2020
Self-Supervised Localisation between Range Sensors and Overhead Imagery
Tim Y. Tang, Daniele De Martini, Shangzhe Wu +1
Publicly available satellite imagery can be an ubiquitous, cheap, and powerful tool for vehicle localisation when a prior sensor map is unavailable. However, satellite images are n…
cs.RO2018
Mapless Online Detection of Dynamic Objects in 3D Lidar
David J. Yoon, Tim Y. Tang, Timothy D. Barfoot
This paper presents a model-free, setting-independent method for online detection of dynamic objects in 3D lidar data. We explicitly compensate for the moving-while-scanning operat…
cs.RO2018
A White-Noise-On-Jerk Motion Prior for Continuous-Time Trajectory Estimation on SE(3)
Tim Y. Tang, David J. Yoon, Timothy D. Barfoot
Simultaneous trajectory estimation and mapping (STEAM) offers an efficient approach to continuous-time trajectory estimation, by representing the trajectory as a Gaussian process (…