7 citations · 16 across the 22 of their papers we have counts for
8 papers · 1 filter
Radar Teach and Repeat: Architecture and Initial Field Testing
Xinyuan Qiao, Alexander Krawciw, Sven Lilge +1
Frequency-modulated continuous-wave (FMCW) scanning radar has emerged as an alternative to spinning LiDAR for state estimation on mobile robots. Radar's longer wavelength is less a…
The Finer Points: A Systematic Comparison of Point-Cloud Extractors for Radar Odometry
Elliot Preston-Krebs, Daniil Lisus, Timothy D. Barfoot
A key element of many odometry pipelines using spinning frequency-modulated continuous-wave (FMCW) radar is the extraction of a point-cloud from the raw signal. This extraction gre…
Marginalizing and Conditioning Gaussians onto Linear Approximations of Smooth Manifolds with Applications in Robotics
Zi Cong Guo, James R. Forbes, Timothy D. Barfoot
We present closed-form expressions for marginalizing and conditioning Gaussians onto linear manifolds, and demonstrate how to apply these expressions to smooth nonlinear manifolds…
Exploiting Chordal Sparsity for Fast Global Optimality with Application to Localization
Frederike Dümbgen, Connor Holmes, Timothy D. Barfoot
In recent years, many estimation problems in robotics have been shown to be solvable to global optimality using their semidefinite relaxations. However, the runtime complexity of o…
FoMo: A Proposal for a Multi-Season Dataset for Robot Navigation in Forêt Montmorency
Matěj Boxan, Alexander Krawciw, Effie Daum +4
In this paper, we propose the FoMo (Forêt Montmorency) dataset: a comprehensive, multi-season data collection. Located in the Montmorency Forest, Quebec, Canada, our dataset will c…
IMU as an Input vs. a Measurement of the State in Inertial-Aided State Estimation
Keenan Burnett, Angela P. Schoellig, Timothy D. Barfoot
Treating IMU measurements as inputs to a motion model and then preintegrating these measurements has almost become a de-facto standard in many robotics applications. However, this…
LaserSAM: Zero-Shot Change Detection Using Visual Segmentation of Spinning LiDAR
Alexander Krawciw, Sven Lilge, Timothy D. Barfoot
This paper presents an approach for applying camera perception techniques to spinning LiDAR data. To improve the robustness of long-term change detection from a 3D LiDAR, range and…
Continuous-time Trajectory Estimation: A Comparative Study Between Gaussian Process and Spline-based Approaches
Jacob Johnson, Joshua Mangelson, Timothy Barfoot +1
Continuous-time trajectory estimation is an attractive alternative to discrete-time batch estimation due to the ability to incorporate high-frequency measurements from asynchronous…