13 papers
Scalix: Uncertainty-Aware Scale-Consistent Monocular SLAM
Sebastian Barbas Laina, Tianyi Zhang, Panagiotis Petropoulakis +5
Cameras are ubiquitous sensors in robotics due to their compact form factor and the perceptual richness captured through visual information. Monocular SLAM enables robots to unders…
BIEVR-LIO: Robust LiDAR-Inertial Odometry through Bump-Image-Enhanced Voxel Maps
Patrick Pfreundschuh, Turcan Tuna, Cedric Le Gentil +3
Reliable odometry is essential for mobile robots as they increasingly enter more challenging environments, which often contain little information to constrain point cloud registrat…
3DRO: Lidar-level SE(3) Direct Radar Odometry Using a 2D Imaging Radar and a Gyroscope
Cedric Le Gentil, Daniil Lisus, Timothy D. Barfoot
Recently, the robotics community has regained interest in radar-based perception and state estimation. A 2D imaging radar provides dense 360deg information about the environment. D…
Dr-BA: Separable Optimization for Direct Radar Bundle Adjustment & Localization
Daniil Lisus, Cedric Le Gentil, Timothy D. Barfoot
This paper introduces Dr-BA, a first-of-its-kind radar bundle adjustment (BA) framework that operates directly on 2D spinning radar intensity images. Unlike camera or lidar sensors…
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-…
Towards Robot Skill Learning and Adaptation with Gaussian Processes
A K M Nadimul Haque, Fouad Sukkar, Sheila Sujipto +3
General robot skill adaptation requires expressive representations robust to varying task configurations. While recent learning-based skill adaptation methods refined via Reinforce…