7 citations · 16 across the 22 of their papers we have counts for
6 papers · 1 filter
Exploiting Chordal Sparsity for Globally Optimal Estimation with Factor Graphs
Avinash Subramanian, Connor Holmes, Timothy D. Barfoot +2
Robust and efficient state estimation is crucial for perception, navigation, and control in robotics. State estimation problems are conveniently modeled using the factor-graph fram…
Smoothing Out the Edges: Continuous-Time Estimation with Gaussian Process Motion Priors on Factor Graphs
Connor Holmes, Sven Lilge, Zi Cong Guo +2
Continuous-time state estimation is gaining in popularity due to its abilities to provide smooth solutions, handle asynchronous sensors, and interpolate between data points. While…
Dr-PoGO: Direct Radar Pose-Graph Optimization
Cedric Le Gentil, Weican Li, Leonardo Brizi +1
This paper introduces Dr-PoGO, a method for Simultaneous Localization And Mapping (SLAM) using a 2D spinning radar. Unlike cameras or lidars that require line-of-sight, millimetre-…
Degeneracy-Resilient Teach and Repeat for Geometrically Challenging Environments Using FMCW Lidar
Katya M. Papais, Wenda Zhao, Timothy D. Barfoot
Teach and Repeat (T&R) topometric navigation enables robots to autonomously repeat previously traversed paths without relying on GPS, making it well suited for operations in GPS-de…
Continuum Robot Localization using Distributed Time-of-Flight Sensors
Spencer Teetaert, Giammarco Caroleo, Marco Pontin +4
Localization and mapping of an environment are crucial tasks for any robot operating in unstructured environments. Time-of-flight (ToF) sensors (e.g.,~lidar) have proven useful in…
Lunar Rover Cargo Transport: Mission Concept and Field Test
Alexander Krawciw, Nicolas Olmedo, Faizan Rehmatullah +3
In future operations on the lunar surface, automated vehicles will be required to transport cargo between known locations. Such vehicles must be able to navigate precisely in safe…