2 citations · 2 across the 4 of their papers we have counts for
4 papers
Factor-Graph-Based Passive Acoustic Navigation for Decentralized Cooperative Localization Using Bearing Elevation Depth Difference
Kalliyan Velasco, Timothy W. McLain, Joshua G. Mangelson
Accurate and scalable underwater multi-agent localization remains a critical challenge due to the constraints of underwater communication. In this work, we propose a multi-agent lo…
Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments
Chad R Samuelson, Timothy W McLain, Joshua G Mangelson
High-level autonomous operations depend on a robot's ability to construct a sufficiently expressive model of its environment. Traditional three-dimensional (3D) scene representatio…
Group- consistent measurement set maximization via maximum clique over k-Uniform hypergraphs for robust multi-robot map merging
Brendon Forsgren, Ram Vasudevan, Michael Kaess +2
This paper unifies the theory of consistent-set maximization for robust outlier detection in a simultaneous localization and mapping framework. We first describe the notion of pair…
Incremental cycle bases for cycle-based pose graph optimization
Brendon Forsgren, Kevin Brink, Prashant Ganesh +1
Pose graph optimization is a special case of the simultaneous localization and mapping problem where the only variables to be estimated are pose variables and the only measurements…