3 citations · 4 across the 7 of their papers we have counts for
7 papers · 1 filter
PathCover: A Fast Convex Decomposition along a Path via Randomized Iterative Space Partitioning (RISP) on Point Clouds
Kunal S. Narkhede, Abhijeet M. Kulkarni, Guoquan Huang +1
Autonomous robot navigation requires rapid construction of obstacle-points-separated convex regions for trajectory planning. When obstacles are represented as point clouds from LiD…
Online Learning of Robust Legged Odometry with Minimal Exteroceptive Supervision
Abhijeet M. Kulkarni, Yuze Du, Guoquan Huang
Robust locomotion and navigation for legged robots relies heavily on dependable odometry. Traditional multi-sensor fusion for such state estimation requires meticulous sensor calib…
Proprioceptive-only State Estimation for Legged Robots with Set-Coverage Measurements of Learned Dynamics
Abhijeet M. Kulkarni, Ioannis Poulakakis, Guoquan Huang
Proprioceptive-only state estimation is attractive for legged robots since it is computationally cheaper and is unaffected by perceptually degraded conditions. The history of joint…
sqrtVINS: Robust and Ultrafast Square-Root Filter-based 3D Motion Tracking
Yuxiang Peng, Chuchu Chen, Kejian Wu +1
In this paper, we develop and open-source, for the first time, a square-root filter (SRF)-based visual-inertial navigation system (VINS), termed sqrtVINS, which is ultra-fast, nume…
Visual-Inertial SLAM as Simple as A, B, VINS
Nathaniel Merrill, Guoquan Huang
We present AB-VINS, a different kind of visual-inertial SLAM system. Unlike most popular VINS methods which only use hand-crafted techniques, AB-VINS makes use of three different d…
MINS: Efficient and Robust Multisensor-aided Inertial Navigation System
Woosik Lee, Patrick Geneva, Chuchu Chen +1
Robust multisensor fusion of multi-modal measurements such as IMUs, wheel encoders, cameras, LiDARs, and GPS holds great potential due to its innate ability to improve resilience t…
NeRF-VINS: A Real-time Neural Radiance Field Map-based Visual-Inertial Navigation System
Saimouli Katragadda, Woosik Lee, Yuxiang Peng +5
Achieving efficient and consistent localization a prior map remains challenging in robotics. Conventional keyframe-based approaches often suffers from sub-optimal viewpoints due to…