66 citations · 184 across the 19 of their papers we have counts for
20 papers
SToRe3D: Sparse Token Relevance in ViTs for Efficient Multi-View 3D Object Detection
Sandro Papais, Lezhou Feng, Charles Cossette +1
Vision Transformers (ViTs) enable strong multi-view 3D detection but are limited by high inference latency from dense token and query processing across multiple views and large 3D…
Fast and Accurate Collision Probability Estimation for Autonomous Vehicles using Adaptive Sigma-Point Sampling
Charles Champagne Cossette, Taylor Scott Clawson, Andrew Feit
A novel algorithm is presented for the estimation of collision probabilities between dynamic objects with uncertain trajectories, where the trajectories are given as a sequence of…
MILUV: A Multi-UAV Indoor Localization dataset with UWB and Vision
Mohammed Ayman Shalaby, Syed Shabbir Ahmed, Nicholas Dahdah +3
This paper introduces MILUV, a Multi-UAV Indoor Localization dataset with UWB and Vision measurements. This dataset comprises 217 minutes of flight time over 36 experiments using t…
Gaussian-Sum Filter for Range-based 3D Relative Pose Estimation in the Presence of Ambiguities
Syed S. Ahmed, Mohammed A. Shalaby, Charles C. Cossette +2
Multi-robot systems must have the ability to accurately estimate relative states between robots in order to perform collaborative tasks, possibly with no external aiding. Three-dim…
navlie: A Python Package for State Estimation on Lie Groups
Charles Champagne Cossette, Mitchell Cohen, Vassili Korotkine +3
The ability to rapidly test a variety of algorithms for an arbitrary state estimation task is valuable in the prototyping phase of navigation systems. Lie group theory is now mains…
IMU Preintegration for Multi-Robot Systems in the Presence of Bias and Communication Constraints
Mohammed Ayman Shalaby, Charles Champagne Cossette, Jerome Le Ny +1
This document is in supplement to the paper titled "Multi-Robot Relative Pose Estimation and IMU Preintegration Using Passive UWB Transceivers", available at [1]. The purpose of th…
STAR-loc: Dataset for STereo And Range-based localization
Frederike Dümbgen, Mohammed A. Shalaby, Connor Holmes +4
This document contains a detailed description of the STAR-loc dataset. For a quick starting guide please refer to the associated Github repository (https://github.com/utiasASRL/sta…
Magnetic Navigation using Attitude-Invariant Magnetic Field Information for Loop Closure Detection
Natalia Pavlasek, Charles Champagne Cossette, David Roy-Guay +1
Indoor magnetic fields are a combination of Earth's magnetic field and disruptions induced by ferromagnetic objects, such as steel structural components in buildings. As a result o…
Decentralized State Estimation: An Approach using Pseudomeasurements and Preintegration
Charles Champagne Cossette, Mohammed Ayman Shalaby, David Saussié +1
This paper addresses the problem of decentralized, collaborative state estimation in robotic teams. In particular, this paper considers problems where individual robots estimate si…
Multi-Robot Relative Pose Estimation and IMU Preintegration Using Passive UWB Transceivers
Mohammed Ayman Shalaby, Charles Champagne Cossette, Jerome Le Ny +1
Ultra-wideband (UWB) systems are becoming increasingly popular as a means of inter-robot ranging and communication. A major constraint associated with UWB is that only one pair of…
Reducing Two-Way Ranging Variance by Signal-Timing Optimization
Mohammed Ayman Shalaby, Charles Champagne Cossette, James Richard Forbes +1
Time-of-flight-based ranging among transceivers with different clocks requires protocols that accommodate varying rates of the clocks. Double-sided two-way ranging (DS-TWR) is wide…
Calibration and Uncertainty Characterization for Ultra-Wideband Two-Way-Ranging Measurements
Mohammed Ayman Shalaby, Charles Champagne Cossette, James Richard Forbes +1
Ultra-Wideband (UWB) systems are becoming increasingly popular for indoor localization, where range measurements are obtained by measuring the time-of-flight of radio signals. Howe…
Relative Position Estimation in Multi-Agent Systems Using Attitude-Coupled Range Measurements
Mohammed Shalaby, Charles Champagne Cossette, James Richard Forbes +1
The ability to accurately estimate the position of robotic agents relative to one another, in possibly GPS-denied environments, is crucial to execute collaborative tasks. Inter-age…
Optimal Multi-robot Formations for Relative Pose Estimation Using Range Measurements
Charles Champagne Cossette, Mohammed Ayman Shalaby, David Saussie +2
In multi-robot missions, relative position and attitude information between agents is valuable for a variety of tasks such as mapping, planning, and formation control. In this pape…
Ultra-Wideband Teach and Repeat
Mohammed Ayman Shalaby, Charles Champagne Cossette, Jerome Le Ny +1
Autonomously retracing a manually-taught path is desirable for many applications, and Teach and Repeat (T&R) algorithms present an approach that is suitable for long-range autonomy…
Localization with Directional Coordinates
Charles Champagne Cossette, Mohammed Shalaby, David Saussié +1
A coordinate system is proposed that replaces the usual three-dimensional Cartesian x,y,z position coordinates, for use in robotic localization applications. Range, azimuth, and el…
Heading Estimation Using Ultra-Wideband Received Signal Strength and Gaussian Processes
Daniil Lisus, Charles Champagne Cossette, Mohammed Shalaby +1
It is essential that a robot has the ability to determine its position and orientation to execute tasks autonomously. Heading estimation is especially challenging in indoor environ…
The Complex-Step Derivative Approximation on Matrix Lie Groups
Charles Champagne Cossette, Alex Walsh, James Richard Forbes
The complex-step derivative approximation is a numerical differentiation technique that can achieve analytical accuracy, to machine precision, with a single function evaluation. In…
Relative Position Estimation Between Two UWB Devices with IMUs
Charles C. Cossette, Mohammed Shalaby, David Saussié +2
For a team of robots to work collaboratively, it is crucial that each robot have the ability to determine the position of their neighbors, relative to themselves, in order to execu…
Cascaded Filtering Using the Sigma Point Transformation (Extended Version)
Mohammed Shalaby, Charles Champagne Cossette, Jerome Le Ny +1
It is often convenient to separate a state estimation task into smaller "local" tasks, where each local estimator estimates a subset of the overall system state. However, neglectin…