11 citations · 13 across the 7 of their papers we have counts for
7 papers
Quantifying VIO Uncertainty
Stephanie Tsuei, Stefano Soatto
We compute the uncertainty of XIVO, a monocular visual-inertial odometry system based on the Extended Kalman Filter, in the presence of Gaussian noise, drift, and attribution error…
Feature Tracks are not Zero-Mean Gaussian
Stephanie Tsuei, Wenjie Mo, Stefano Soatto
In state estimation algorithms that use feature tracks as input, it is customary to assume that the errors in feature track positions are zero-mean Gaussian. Using a combination of…
Learned Uncertainty Calibration for Visual Inertial Localization
Stephanie Tsuei, Stefano Soatto, Paulo Tabuada +1
The widely-used Extended Kalman Filter (EKF) provides a straightforward recipe to estimate the mean and covariance of the state given all past measurements in a causal and recursiv…
SABER: Data-Driven Motion Planner for Autonomously Navigating Heterogeneous Robots
Alexander Schperberg, Stephanie Tsuei, Stefano Soatto +1
We present an end-to-end online motion planning framework that uses a data-driven approach to navigate a heterogeneous robot team towards a global goal while avoiding obstacles in…
Scene Uncertainty and the Wellington Posterior of Deterministic Image Classifiers
Stephanie Tsuei, Aditya Golatkar, Stefano Soatto
We propose a method to estimate the uncertainty of the outcome of an image classifier on a given input datum. Deep neural networks commonly used for image classification are determ…
Risk-Averse MPC via Visual-Inertial Input and Recurrent Networks for Online Collision Avoidance
Alexander Schperberg, Kenny Chen, Stephanie Tsuei +5
In this paper, we propose an online path planning architecture that extends the model predictive control (MPC) formulation to consider future location uncertainties for safer navig…
Unsupervised Depth Completion from Visual Inertial Odometry
Alex Wong, Xiaohan Fei, Stephanie Tsuei +1
We describe a method to infer dense depth from camera motion and sparse depth as estimated using a visual-inertial odometry system. Unlike other scenarios using point clouds from l…