5 citations · 6 across the 9 of their papers we have counts for
7 papers · 1 filter
MR-MPCC: Model Predictive Contouring Control for Robotic Manipulator Tracking under Moving Reference Frames
Chonghao Cheng, Tiancheng Li, Jonathan Woolfrey +2
Maintaining small path-tracking errors under moving reference frames is essential for robotic manipulation tasks with tight execution tolerances, such as machining and surgical aut…
Adaptive Depth-Map-Guided Bundle Adjustment for Correspondence-Free Multi-View Point Cloud Registration
Yiran Zhou, Yingyu Wang, Shoudong Huang +1
Robotic processing of irregular steel scrap requires dense 3-D measurement to replace manual visual assessment in hazardous cutting workcells. The reconstructed map is used to esti…
Large-Scale Continuous Occupancy Mapping via Variance-Weighted Submap Joining
Zhuhua Bai, Yingyu Wang, Liang Zhao +1
Continuous occupancy mapping methods that learn spatial representations from sensor observations support predictions at arbitrary locations, but training a single global model can…
Occupancy-SLAM: An Efficient and Robust Algorithm for Simultaneously Optimizing Robot Poses and Occupancy Map
Yingyu Wang, Liang Zhao, Shoudong Huang
Joint optimization of poses and features has been extensively studied and demonstrated to yield more accurate results in feature-based SLAM problems. However, research on jointly o…
Grid-based Submap Joining: An Efficient Algorithm for Simultaneously Optimizing Global Occupancy Map and Local Submap Frames
Yingyu Wang, Liang Zhao, Shoudong Huang
Optimizing robot poses and the map simultaneously has been shown to provide more accurate SLAM results. However, for non-feature based SLAM approaches, directly optimizing all the…
Affine EKF: Exploring and Utilizing Sufficient and Necessary Conditions for Observability Maintenance to Improve EKF Consistency
Yang Song, Liang Zhao, Shoudong Huang
Inconsistency issue is one crucial challenge for the performance of extended Kalman filter (EKF) based methods for state estimation problems, which is mainly affected by the discre…
Partial-to-Full Registration based on Gradient-SDF for Computer-Assisted Orthopedic Surgery
Tiancheng Li, Peter Walker, Danial Hammoud +2
In computer-assisted orthopedic surgery (CAOS), accurate pre-operative to intra-operative bone registration is an essential and critical requirement for providing navigational guid…