2 papers
cs.RO2019
Towards Online Observability-Aware Trajectory Optimization for Landmark-based Estimators
Kristoffer M. Frey, Ted J. Steiner, Jonathan P. How
As autonomous systems increasingly rely on onboard sensing for localization and perception, the parallel tasks of motion planning and state estimation become more strongly coupled.…
cs.RO2018
Efficient Constellation-Based Map-Merging for Semantic SLAM
Kristoffer M. Frey, Ted J. Steiner, Jonathan P. How
Data association in SLAM is fundamentally challenging, and handling ambiguity well is crucial to achieve robust operation in real-world environments. When ambiguous measurements ar…