37 citations · 108 across the 8 of their papers we have counts for
8 papers
A Certifably Correct Algorithm for Generalized Robot-World and Hand-Eye Calibration
Emmett Wise, Pushyami Kaveti, Qilong Chen +5
Automatic extrinsic sensor calibration is a fundamental problem for multi-sensor platforms. Reliable and general-purpose solutions should be computationally efficient, require few…
Automated Continuous Force-Torque Sensor Bias Estimation
Philippe Nadeau, Miguel Rogel Garcia, Emmett Wise +1
Six axis force-torque sensors are commonly attached to the wrist of serial robots to measure the external forces and torques acting on the robot's end-effector. These measurements…
Extrinsic Calibration of 2D Millimetre-Wavelength Radar Pairs Using Ego-Velocity Estimates
Qilong Cheng, Emmett Wise, Jonathan Kelly
Correct radar data fusion depends on knowledge of the spatial transform between sensor pairs. Current methods for determining this transform operate by aligning identifiable featur…
Spatiotemporal Calibration of 3D Millimetre-Wavelength Radar-Camera Pairs
Emmett Wise, Qilong Cheng, Jonathan Kelly
Autonomous vehicles (AVs) fuse data from multiple sensors and sensing modalities to impart a measure of robustness when operating in adverse conditions. Radars and cameras are popu…
A Self-Supervised, Differentiable Kalman Filter for Uncertainty-Aware Visual-Inertial Odometry
Brandon Wagstaff, Emmett Wise, Jonathan Kelly
Visual-inertial odometry (VIO) systems traditionally rely on filtering or optimization-based techniques for egomotion estimation. While these methods are accurate under nominal con…
Observability-Aware Trajectory Optimization: Theory, Viability, and State of the Art
Christopher Grebe, Emmett Wise, Jonathan Kelly
Ideally, robots should move in ways that maximize the knowledge gained about the state of both their internal system and the external operating environment. Trajectory design is a…
A Continuous-Time Approach for 3D Radar-to-Camera Extrinsic Calibration
Emmett Wise, Juraj Peršić, Christopher Grebe +2
Reliable operation in inclement weather is essential to the deployment of safe autonomous vehicles (AVs). Robustness and reliability can be achieved by fusing data from the standar…
Certifiably Optimal Monocular Hand-Eye Calibration
Emmett Wise, Matthew Giamou, Soroush Khoubyarian +2
Correct fusion of data from two sensors is not possible without an accurate estimate of their relative pose, which can be determined through the process of extrinsic calibration. W…