1.2k citations · 1.2k across the 7 of their papers we have counts for
7 papers
Continuous-Time Range-Only Pose Estimation
Abhishek Goudar, Timothy D. Barfoot, Angela P. Schoellig
Range-only (RO) localization involves determining the position of a mobile robot by measuring the distance to specific anchors. RO localization is challenging since the measurement…
Towards Consistent Batch State Estimation Using a Time-Correlated Measurement Noise Model
David J. Yoon, Timothy D. Barfoot
In this paper, we present an algorithm for learning time-correlated measurement covariances for application in batch state estimation. We parameterize the inverse measurement covar…
Picking Up Speed: Continuous-Time Lidar-Only Odometry using Doppler Velocity Measurements
Yuchen Wu, David J. Yoon, Keenan Burnett +4
Frequency-Modulated Continuous-Wave (FMCW) lidar is a recently emerging technology that additionally enables per-return instantaneous relative radial velocity measurements via the…
The Foreseeable Future: Self-Supervised Learning to Predict Dynamic Scenes for Indoor Navigation
Hugues Thomas, Jian Zhang, Timothy D. Barfoot
We present a method for generating, predicting, and using Spatiotemporal Occupancy Grid Maps (SOGM), which embed future semantic information of real dynamic scenes. We present an a…
Batch Nonlinear Continuous-Time Trajectory Estimation as Exactly Sparse Gaussian Process Regression
Sean Anderson, Timothy D. Barfoot, Chi Hay Tong +1
In this paper, we revisit batch state estimation through the lens of Gaussian process (GP) regression. We consider continuous-discrete estimation problems wherein a trajectory is v…
Informed RRT*: Optimal Sampling-based Path Planning Focused via Direct Sampling of an Admissible Ellipsoidal Heuristic
Jonathan D. Gammell, Siddhartha S. Srinivasa, Timothy D. Barfoot
Rapidly-exploring random trees (RRTs) are popular in motion planning because they find solutions efficiently to single-query problems. Optimal RRTs (RRT*s) extend RRTs to the probl…