23 citations · 102 across the 18 of their papers we have counts for
5 papers · 1 filter
Safe Stochastic Model Predictive Control
Tim Brüdigam, Robert Jacumet, Dirk Wollherr +1
Combining efficient and safe control for safety-critical systems is challenging. Robust methods may be overly conservative, whereas probabilistic controllers require a trade-off be…
MS2MP: A Min-Sum Message Passing Algorithm for Motion Planning
Salman Bari, Volker Gabler, Dirk Wollherr
Gaussian Process (GP) formulation of continuoustime trajectory offers a fast solution to the motion planning problem via probabilistic inference on factor graph. However, often the…
Factor Graph-Based Planning as Inference for Autonomous Vehicle Racing
Salman Bari, Xiagong Wang, Ahmad Schoha Haidari +1
Factor graph, as a bipartite graphical model, offers a structured representation by revealing local connections among graph nodes. This study explores the utilization of factor gra…
Constrained Visual-Inertial Localization With Application And Benchmark in Laparoscopic Surgery
Regine Hartwig, Daniel Ostler, Jean-Claude Rosenthal +3
We propose a novel method to tackle the visual-inertial localization problem for constrained camera movements. We use residuals from the different modalities to jointly optimize a…
MITI: SLAM Benchmark for Laparoscopic Surgery
Regine Hartwig, Daniel Ostler, Jean-Claude Rosenthal +3
We propose a new benchmark for evaluating stereoscopic visual-inertial computer vision algorithms (SLAM/ SfM/ 3D Reconstruction/ Visual-Inertial Odometry) for minimally invasive su…