14 citations · 14 across the 1 of their papers we have counts for
6 papers
Learning Matchable Image Transformations for Long-term Metric Visual Localization
Lee Clement, Mona Gridseth, Justin Tomasi +1
Long-term metric self-localization is an essential capability of autonomous mobile robots, but remains challenging for vision-based systems due to appearance changes caused by ligh…
How to Train a CAT: Learning Canonical Appearance Transformations for Direct Visual Localization Under Illumination Change
Lee Clement, Jonathan Kelly
Direct visual localization has recently enjoyed a resurgence in popularity with the increasing availability of cheap mobile computing power. The competitive accuracy and robustness…
PROBE: Predictive Robust Estimation for Visual-Inertial Navigation
Valentin Peretroukhin, Lee Clement, Matthew Giamou +1
Navigation in unknown, chaotic environments continues to present a significant challenge for the robotics community. Lighting changes, self-similar textures, motion blur, and movin…
Monocular Visual Teach and Repeat Aided by Local Ground Planarity
Lee Clement, Jonathan Kelly, Timothy D. Barfoot
Visual Teach and Repeat (VT\&R) allows an autonomous vehicle to repeat a previously traversed route without a global positioning system. Existing implementations of VT\&R typically…
Entropy-Based Calibration of 2D Lidars to Egomotion Sensors
Jacob Lambert, Lee Clement, Matthew Giamou +1
This paper explores the use of an entropy-based technique for point cloud reconstruction with the goal of calibrating a lidar to a sensor capable of providing egomotion information…
Reducing Drift in Visual Odometry by Inferring Sun Direction Using a Bayesian Convolutional Neural Network
Valentin Peretroukhin, Lee Clement, Jonathan Kelly
We present a method to incorporate global orientation information from the sun into a visual odometry pipeline using only the existing image stream, where the sun is typically not…