13 citations · 18 across the 6 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…