5 papers
FORM: Fixed-Lag Odometry with Reparative Mapping utilizing Rotating LiDAR Sensors
Easton R. Potokar, Taylor Pool, Daniel McGann +1
Light Detection and Ranging (LiDAR) sensors have become a de-facto sensor for many robot state estimation tasks, spurring development of many LiDAR Odometry (LO) methods in recent…
COSMO-Bench: A Benchmark for Collaborative SLAM Optimization
Daniel McGann, Easton R. Potokar, Michael Kaess
Recent years have seen a focus on research into distributed optimization algorithms for multi-robot Collaborative Simultaneous Localization and Mapping (C-SLAM). Research in this d…
A Comprehensive Evaluation of LiDAR Odometry Techniques
Easton Potokar, Michael Kaess
Light Detection and Ranging (LiDAR) sensors have become the sensor of choice for many robotic state estimation tasks. Because of this, in recent years there has been significant wo…
Invariant Extended Kalman Filtering with Partial Orientation Measurement Integration: Theoretical Derivations and Application to Autonomous Surface Vessels
Derek R. Benham, Easton R. Potokar, Joshua G. Mangelson
Autonomous surface vessels (ASVs) are increasingly vital for marine science, offering robust platforms for underwater mapping and inspection. Accurate state estimation, particularl…
Accelerating Silicon Photonic Parameter Extraction using Artificial Neural Networks
Alec M. Hammond, Easton Potokar, Ryan M. Camacho
We present a novel silicon photonic parameter extraction tool that uses artificial neural networks. While other parameter extraction methods are restricted to relatively simple dev…