5 papers
In Proximity of ReLU DNN, PWA Function, and Explicit MPC
Saman Fahandezh-Saadi, Masayoshi Tomizuka
Rectifier (ReLU) deep neural networks (DNN) and their connection with piecewise affine (PWA) functions is analyzed. The paper is an effort to find and study the possibility of repr…
UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes
Weisong Wen, Yiyang Zhou, Guohao Zhang +5
Mapping and localization is a critical module of autonomous driving, and significant achievements have been reached in this field. Beyond Global Navigation Satellite System (GNSS),…
Robust Feature-Based Point Registration Using Directional Mixture Model
Saman Fahandezh-Saadi, Di Wang, Masayoshi Tomizuka
This paper presents a robust probabilistic point registration method for estimating the rigid transformation (i.e. rotation matrix and translation vector) between two pointcloud da…
An algorithm for real-time restructuring of a ranging-based localization network
Saman Fahandezh-Saadi, Mark W. Mueller
This paper presents a method to improve the localization accuracy of robots operating in a range-based localization network. The method is favorable especially when the robots oper…
Optimal measurement selection algorithm and estimator for ultra-wideband symmetric ranging localization
Saman Fahandezh-Saadi, Mark W. Mueller
A state estimator is derived for an agent with the ability to measure single ranges to fixed points in its environment, and equipped with an accelerometer and a rate gyroscope. The…