1.5k citations · 2k across the 42 of their papers we have counts for
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FAST-Sync: Fast Group Synchronization for any Matrix Lie Group
Shane Holmes, Yiran Luo, Firat Taxpulat +2
Group synchronization (GS) is the problem of estimating a set of unknown elements in a group , given noisy measurements of a subs…
Equivariant Filter Design for Acoustic and Depth Aided Inertial Navigation Systems
Arihant Lunawat, Pieter van Goor, Frank Dellaert +1
Autonomous Underwater Vehicles (AUVs) navigating without GPS typically fuse inertial measurements with acoustic Doppler Velocity Log (DVL) velocities and pressure-derived depth. Po…
Uncertainty-driven 3D Gaussian Splatting Active Mapping via Anisotropic Visibility Field
Shangjie Xue, Jesse Dill, Dhruv Ahuja +3
We present Gaussian Splatting Anisotropic Visibility Field (GAVIS), a novel framework for uncertainty quantification and active mapping in 3DGS. Our key insight is that regions uns…
Variable Elimination in Hybrid Factor Graphs for Discrete-Continuous Inference & Estimation
Varun Agrawal, Frank Dellaert
Many problems in robotics involve both continuous and discrete components, and modeling them together for estimation tasks has been a long standing and difficult problem. Hybrid Fa…