3 papers
cs.RO2026
DynoJEPP: Joint Estimation, Prediction and Planning in Dynamic Environments
Mikolaj Kliniewski, Jesse Morris, Yiduo Wang +2
DynoJEPP is a factor-graph-based framework that jointly formulates and simultaneously optimizes estimation, prediction, and planning in dynamic environments. In conventional factor…
cs.RO2025
DynoSAM: Open-Source Smoothing and Mapping Framework for Dynamic SLAM
Jesse Morris, Yiduo Wang, Mikolaj Kliniewski +1
Traditional Visual Simultaneous Localization and Mapping (vSLAM) systems focus solely on static scene structures, overlooking dynamic elements in the environment. Although effectiv…
cs.RO2025
Training Trajectory Predictors Without Ground-Truth Data
Mikolaj Kliniewski, Jesse Morris, Ian R. Manchester +1
This paper presents a framework capable of accurately and smoothly estimating position, heading, and velocity. Using this high-quality input, we propose a system based on Trajectro…