24 citations · 36 across the 13 of their papers we have counts for
15 papers
Balancing Act: Trading Off Odometry and Map Registration for Efficient Lidar Localization
Katya M. Papais, Daniil Lisus, Cedric Le Gentil +2
Most autonomous vehicles rely on accurate and efficient localization, which is achieved by comparing live sensor data to a preexisting map, to navigate their environment. Balancing…
Are Doppler Velocity Measurements Useful for Spinning Radar Odometry?
Daniil Lisus, Keenan Burnett, David J. Yoon +3
Spinning, frequency-modulated continuous-wave (FMCW) radars with 360 degree coverage have been gaining popularity for autonomous-vehicle navigation. However, unlike `fixed' automot…
Towards Consistent Batch State Estimation Using a Time-Correlated Measurement Noise Model
David J. Yoon, Timothy D. Barfoot
In this paper, we present an algorithm for learning time-correlated measurement covariances for application in batch state estimation. We parameterize the inverse measurement covar…
Need for Speed: Fast Correspondence-Free Lidar-Inertial Odometry Using Doppler Velocity
David J. Yoon, Keenan Burnett, Johann Laconte +5
In this paper, we present a fast, lightweight odometry method that uses the Doppler velocity measurements from a Frequency-Modulated Continuous-Wave (FMCW) lidar without data assoc…
Picking Up Speed: Continuous-Time Lidar-Only Odometry using Doppler Velocity Measurements
Yuchen Wu, David J. Yoon, Keenan Burnett +4
Frequency-Modulated Continuous-Wave (FMCW) lidar is a recently emerging technology that additionally enables per-return instantaneous relative radial velocity measurements via the…
Are We Ready for Radar to Replace Lidar in All-Weather Mapping and Localization?
Keenan Burnett, Yuchen Wu, David J. Yoon +2
We present an extensive comparison between three topometric localization systems: radar-only, lidar-only, and a cross-modal radar-to-lidar system across varying seasonal and weathe…