3 papers
cs.RO2026
Extending Ground-Constraint LiDAR-IMU Calibration to Tilted Surfaces in a Continuous-Time Framework
Vassili Korotkine, Pierre Chamoun, Mohammed Ayman Shalaby +1
This paper presents a novel method that extends targetless LiDAR-IMU calibration for ground vehicles to non- flat environments. Calibration typically necessitates full exci- tation…
cs.RO2026
Observability and Consistency Analysis for Visual-Inertial Navigation with Anchored Feature Parameterizations
Mitchell Cohen, Vassili Korotkine, James Richard Forbes
This paper presents an analysis of the observability and consistency properties of filtering-based visual-inertial navigation systems (VINS) that utilize anchored feature represent…
cs.RO2025
Globally Optimal Data-Association-Free Landmark-Based Localization Using Semidefinite Relaxations
Vassili Korotkine, Mitchell Cohen, James Richard Forbes
This paper proposes a semidefinite relaxation for landmark-based localization with unknown data associations in planar environments. The proposed method simultaneously solves for t…