4 papers
Generalized-CVO: Fast and Correspondence-Free Local Point Cloud Registration with Second Order Riemannian Optimization
Ray Zhang, Marcus Greiff, Thomas Lew +1
We propose a fast and correspondence-free local point cloud registration method that leverages geometric surface structure and reproducing kernel Hilbert space (RKHS) embeddings. T…
Vision-Conditioned Variational Bayesian Last Layer Dynamics Models
Paul Brunzema, Thomas Lew, Ray Zhang +3
Agile control of robotic systems often requires anticipating how the environment affects system behavior. For example, a driver must perceive the road ahead to anticipate available…
Dynamic Association of Semantics and Parameter Estimates by Filtering
Marcus Greiff, Ray Zhang, Thomas Lew +1
We propose a probabilistic semantic filtering framework in which parameters of a dynamical system are inferred and associated with a closed set of semantic classes in a map. We ext…
Semantic Property Maps for Driving Applications
Marcus Greiff, Ray Zhang, Takeru Shirasawa +1
We consider the problem of estimating the parameters of a vehicle dynamics model for predictive control in driving applications. Instead of solely using the instantaneous parameter…