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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…
Enhancing Situational Awareness in Underwater Robotics with Multi-modal Spatial Perception
Pushyami Kaveti, Ambjorn Grimsrud Waldum, Hanumant Singh +1
Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) demand robust spatial perception capabilities, including Simultaneous Localization and Mapping (SLAM), t…
Design and Evaluation of a Generic Visual SLAM Framework for Multi-Camera Systems
Pushyami Kaveti, Shankara Narayanan Vaidyanathan, Arvind Thamilchelvan +1
Multi-camera systems have been shown to improve the accuracy and robustness of SLAM estimates, yet state-of-the-art SLAM systems predominantly support monocular or stereo setups. T…