3 papers
cs.CV2026
MDE-VIO: Enhancing Visual-Inertial Odometry Using Learned Depth Priors
Arda Alniak, Sinan Kalkan, Mustafa Mert Ankarali +2
Traditional monocular Visual-Inertial Odometry (VIO) systems struggle in low-texture environments where sparse visual features are insufficient for accurate pose estimation. To add…
eess.SY2026
Koopman Model Dimension Reduction via Variational Bayesian Inference and Graph Search
Selin Ezgi Ozcan, Mustafa Mert Ankarali
Koopman operator recently gained increasing attention in the control systems community for its abilities to bridge linear and nonlinear systems. Data driven Koopman operator approx…
cs.RO2022
Stochastic stability analysis of legged locomotion using unscented transformation
Guner Dilsad ER, Mustafa Mert Ankarali
In this manuscript, we present a novel method for estimating the stochastic stability characteristics of metastable legged systems using the unscented transformation. Prior methods…