5 papers
LiDARTag: A Real-Time Fiducial Tag System for Point Clouds
Jiunn-Kai Huang, Shoutian Wang, Maani Ghaffari +1
Image-based fiducial markers are useful in problems such as object tracking in cluttered or textureless environments, camera (and multi-sensor) calibration tasks, and vision-based…
Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation
Ross Hartley, Maani Ghaffari, Ryan M. Eustice +1
Legged robots require knowledge of pose and velocity in order to maintain stability and execute walking paths. Current solutions either rely on vision data, which is susceptible to…
Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway
Yukai Gong, Ross Hartley, Xingye Da +4
The Cassie bipedal robot designed by Agility Robotics is providing academics a common platform for sharing and comparing algorithms for locomotion, perception, and navigation. This…
Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation
Ross Hartley, Maani Ghaffari Jadidi, Jessy W. Grizzle +1
This paper derives a contact-aided inertial navigation observer for a 3D bipedal robot using the theory of invariant observer design. Aided inertial navigation is fundamentally a n…
Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation Using Factor Graphs
Ross Hartley, Maani Ghaffari Jadidi, Lu Gan +3
The factor graph framework is a convenient modeling technique for robotic state estimation where states are represented as nodes, and measurements are modeled as factors. When desi…