44 citations · 98 across the 20 of their papers we have counts for
5 papers · 1 filter
Saturation-Aware Angular Velocity Estimation: Extending the Robustness of SLAM to Aggressive Motions
Simon-Pierre Deschênes, Dominic Baril, Matěj Boxan +3
We propose a novel angular velocity estimation method to increase the robustness of Simultaneous Localization And Mapping (SLAM) algorithms against gyroscope saturations induced by…
Risk-Aware Navigation for Mobile Robots in Unknown 3D Environments
Elie Randriamiarintsoa, Johann Laconte, Benoit Thuilot +1
Autonomous navigation in unknown 3D environments is a key issue for intelligent transportation, while still being an open problem. Conventionally, navigation risk has been focused…
Pointing the Way: Refining Radar-Lidar Localization Using Learned ICP Weights
Daniil Lisus, Johann Laconte, Keenan Burnett +2
This paper presents a novel deep-learning-based approach to improve localizing radar measurements against lidar maps. This radar-lidar localization leverages the benefits of both s…
Toward Certifying Maps for Safe Registration-based Localization Under Adverse Conditions
Johann Laconte, Daniil Lisus, Timothy D. Barfoot
In this paper, we propose a way to model the resilience of the Iterative Closest Point (ICP) algorithm in the presence of corrupted measurements. In the context of autonomous vehic…
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…