43 citations · 107 across the 13 of their papers we have counts for
14 papers
Large-Scale Geometric Map-Based Localization of UAVs in GNSS-Denied Urban Environments
Garth Terlizzi, Kaveh Fathian
Unmanned aerial vehicles (UAVs) operating in GNSS-denied urban environments require alternative methods for position estimation. Existing approaches based on satellite image retrie…
PARTE: Plane-Assisted Robust Transformation Estimation for Point Cloud Registration
Abolfazl Babanazari, Carson Cramer, Tyler Summers +2
Global point-cloud registration remains challenging when limited overlap, repetitive geometry, and sensor noise produce correspondence sets dominated by outliers. Planar regions ar…
CLIPPER+: A Fast Maximal Clique Algorithm for Robust Global Registration
Kaveh Fathian, Tyler Summers
We present CLIPPER+, an algorithm for finding maximal cliques in unweighted graphs for outlier-robust global registration. The registration problem can be formulated as a graph and…
MIXER: Multiattribute, Multiway Fusion of Uncertain Pairwise Affinities
Parker C. Lusk, Kaveh Fathian, Jonathan P. How
We present a multiway fusion algorithm capable of directly processing uncertain pairwise affinities. In contrast to existing works that require initial pairwise associations, our M…
View-Invariant Localization using Semantic Objects in Changing Environments
Jacqueline Ankenbauer, Kaveh Fathian, Jonathan P. How
This paper proposes a novel framework for real-time localization and egomotion tracking of a vehicle in a reference map. The core idea is to map the semantic objects observed by th…
MIXER: A Principled Framework for Multimodal, Multiway Data Association
Parker C. Lusk, Ronak Roy, Kaveh Fathian +1
A fundamental problem in robotic perception is matching identical objects or data, with applications such as loop closure detection, place recognition, object tracking, and map fus…
Multi-Robot Distributed Semantic Mapping in Unfamiliar Environments through Online Matching of Learned Representations
Stewart Jamieson, Kaveh Fathian, Kasra Khosoussi +2
We present a solution to multi-robot distributed semantic mapping of novel and unfamiliar environments. Most state-of-the-art semantic mapping systems are based on supervised learn…
CLIPPER: A Graph-Theoretic Framework for Robust Data Association
Parker C. Lusk, Kaveh Fathian, Jonathan P. How
We present CLIPPER (Consistent LInking, Pruning, and Pairwise Error Rectification), a framework for robust data association in the presence of noise and outliers. We formulate the…
A Distributed Pipeline for Scalable, Deconflicted Formation Flying
Parker C. Lusk, Xiaoyi Cai, Samir Wadhwania +3
Reliance on external localization infrastructure and centralized coordination are main limiting factors for formation flying of vehicles in large numbers and in unprepared environm…
CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multi-View Data Association
Kaveh Fathian, Kasra Khosoussi, Yulun Tian +2
Many robotics applications require alignment and fusion of observations obtained at multiple views to form a global model of the environment. Multi-way data association methods pro…
Vision-Based Distributed Formation Control of Unmanned Aerial Vehicles
Kaveh Fathian, Emily Doucette, J. Willard Curtis +1
We present a novel control strategy for a team of unmanned aerial vehicles (UAVs) to autonomously achieve a desired formation using only visual feedback provided by the UAV's onboa…
Robust 3D Distributed Formation Control with Application to Quadrotors
Kaveh Fathian, Sleiman Safaoui, Tyler H. Summers +1
We present a distributed control strategy for a team of quadrotors to autonomously achieve a desired 3D formation. Our approach is based on local relative position measurements and…
Robust Distributed Planar Formation Control for Higher-Order Holonomic and Nonholonomic Agents
Kaveh Fathian, Sleiman Safaoui, Tyler H. Summers +1
We present a distributed formation control strategy for agents with a variety of dynamics to achieve a desired planar formation. Our approach is based on the barycentric-coordinate…
Quaternion Based Camera Pose Estimation From Matched Feature Points
Kaveh Fathian, J. Pablo Ramirez-Paredes, Emily A. Doucette +2
We present a novel solution to the camera pose estimation problem, where rotation and translation of a camera between two views are estimated from matched feature points in the ima…