17 citations · 42 across the 7 of their papers we have counts for
7 papers
An SE(3) Noise Model for Range-Azimuth-Elevation Sensors
Thomas Hitchcox, James Richard Forbes
Scan matching is a widely used technique in state estimation. Point-cloud alignment, one of the most popular methods for scan matching, is a weighted least-squares problem in which…
Laser-to-Vehicle Extrinsic Calibration in Low-Observability Scenarios for Subsea Mapping
Thomas Hitchcox, James Richard Forbes
Laser line scanners are increasingly being used in the subsea industry for high-resolution mapping and infrastructure inspection. However, calibrating the 3D pose of the scanner re…
Combining DVL-INS and Laser-Based Loop Closures in a Batch Estimation Framework for Underwater Positioning
Amro Al-Baali, Thomas Hitchcox, James Richard Forbes
Correcting gradual position drift is a challenge in long-term subsea navigation. Though highly accurate, modern inertial navigation system (INS) estimates will drift over time due…
An Adaptive Graduated Nonconvexity Loss Function for Robust Nonlinear Least Squares Solutions
Kyungmin Jung, Thomas Hitchcox, James Richard Forbes
Many problems in robotics, such as estimating the state from noisy sensor data or aligning two point clouds, can be posed and solved as least-squares problems. Unfortunately, vanil…
Improving Self-Consistency in Underwater Mapping Through Laser-Based Loop Closure (Extended)
Thomas Hitchcox, James Richard Forbes
Accurate, self-consistent bathymetric maps are needed to monitor changes in subsea environments and infrastructure. These maps are increasingly collected by underwater vehicles, an…
Performance Evaluation of 3D Keypoint Detectors and Descriptors on Coloured Point Clouds in Subsea Environments
Kyungmin Jung, Thomas Hitchcox, James Richard Forbes
The recent development of high-precision subsea optical scanners allows for 3D keypoint detectors and feature descriptors to be leveraged on point cloud scans from subsea environme…
Mind the Gap: Norm-Aware Adaptive Robust Loss for Multivariate Least-Squares Problems
Thomas Hitchcox, James Richard Forbes
Measurement outliers are unavoidable when solving real-world robot state estimation problems. A large family of robust loss functions (RLFs) exists to mitigate the effects of outli…