1 citations · 1 across the 3 of their papers we have counts for
5 papers
VIGOR-MPC: Vision-Guided Objective Regulation MPC
Jelena Trisovic, Rahel Rickenbach, Marek Landert +2
Controlling an agent in an environment solely perceived through onboard vision is challenging: perception yields noisy, variable-length, and partially occluded context, while onboa…
Uncertainty-Aware RL-Controlled Adaptive 3D Mapping
Alpay Ozkan, Tunc Ozan Aydin, Marc Pollefeys +2
Voxel-based volumetric mapping is fundamental to 3D reconstruction, yet fixed-resolution grids remain inherently inefficient - wasting memory in uniform regions and losing detail i…
Eigenvalues as a Metric for Memory Dynamics in Sequence Models
Rahel Rickenbach, Jelena Trisovic, Alexandre Didier +2
While softmax attention drives state-of-the-art performance in sequence modeling, its quadratic complexity motivates linear alternatives such as state space models (SSMs). Structur…
Predictive Control for Driving under Uncertain Road Geometry Estimated from Onboard Vision
Jelena Trisovic, Andrea Carron, Melanie N. Zeilinger
Autonomous vehicles driving on unknown roads must estimate the road geometry from onboard sensors and follow the resulting reference while respecting road boundaries. When the perc…
Moving Horizon Estimation for Simultaneous Localization and Mapping with Robust Estimation Error Bounds
Jelena Trisovic, Alexandre Didier, Simon Muntwiler +1
This paper presents a robust moving horizon estimation (MHE) approach with provable estimation error bounds for solving the simultaneous localization and mapping (SLAM) problem. We…