17 citations · 42 across the 7 of their papers we have counts for
3 papers · 2 filters
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…