4 papers
PathCover: A Fast Convex Decomposition along a Path via Randomized Iterative Space Partitioning (RISP) on Point Clouds
Kunal S. Narkhede, Abhijeet M. Kulkarni, Guoquan Huang +1
Autonomous robot navigation requires the rapid generation of obstacle-free regions for trajectory planning. However, existing corridor generators struggle to meet real-time, sensor…
Online Learning of Robust Legged Odometry with Minimal Exteroceptive Supervision
Abhijeet M. Kulkarni, Yuze Du, Guoquan Huang
Robust locomotion and navigation for legged robots relies heavily on dependable odometry. Traditional multi-sensor fusion for such state estimation requires meticulous sensor calib…
Proprioceptive-only State Estimation for Legged Robots with Set-Coverage Measurements of Learned Dynamics
Abhijeet M. Kulkarni, Ioannis Poulakakis, Guoquan Huang
Proprioceptive-only state estimation is attractive for legged robots since it is computationally cheaper and is unaffected by perceptually degraded conditions. The history of joint…
sqrtVINS: Robust and Ultrafast Square-Root Filter-based 3D Motion Tracking
Yuxiang Peng, Chuchu Chen, Kejian Wu +1
In this paper, we develop and open-source, for the first time, a square-root filter (SRF)-based visual-inertial navigation system (VINS), termed sqrtVINS, which is ultra-fast, nume…