89 citations · 375 across the 17 of their papers we have counts for
14 papers · 1 filter
Deep Samplable Observation Model for Global Localization and Kidnapping
Runjian Chen, Huan Yin, Yanmei Jiao +3
Global localization and kidnapping are two challenging problems in robot localization. The popular method, Monte Carlo Localization (MCL) addresses the problem by iteratively updat…
An observable time series based SLAM algorithm for deforming environment
Jingwei Song, Liang Zhao, Shoudong Huang +1
In this paper, we study the back-end of simultaneous localization and mapping (SLAM) problem in deforming environment, where robot localizes itself and tracks multiple non-rigid so…
Linear SLAM: Linearising the SLAM Problems using Submap Joining
Liang Zhao, Shoudong Huang, Gamini Dissanayake
The main contribution of this paper is a new submap joining based approach for solving large-scale Simultaneous Localization and Mapping (SLAM) problems. Each local submap is indep…
Parallax Bundle Adjustment on Manifold with Convexified Initialization
Liyang Liu, Teng Zhang, Yi Liu +4
Bundle adjustment (BA) with parallax angle based feature parameterization has been shown to have superior performance over BA using inverse depth or XYZ feature forms. In this pape…
A Radio-Inertial Localization and Tracking System with BLE Beacons Prior Maps
Maani Ghaffari Jadidi, Mitesh Patel, Jaime Valls Miro +3
In this paper, we develop a system for the low-cost indoor localization and tracking problem using radio signal strength indicator, Inertial Measurement Unit (IMU), and magnetomete…
An Invariant-EKF VINS Algorithm for Improving Consistency
Teng Zhang, Kanzhi Wu, Daobilige Su +2
The main contribution of this paper is an invariant extended Kalman filter (EKF) for visual inertial navigation systems (VINS). It is demonstrated that the conventional EKF based V…
Convergence and Consistency Analysis for A 3D Invariant-EKF SLAM
Teng Zhang, Kanzhi Wu, Jingwei Song +2
In this paper, we investigate the convergence and consistency properties of an Invariant-Extended Kalman Filter (RI-EKF) based Simultaneous Localization and Mapping (SLAM) algorith…
Warped Gaussian Processes Occupancy Mapping with Uncertain Inputs
Maani Ghaffari Jadidi, Jaime Valls Miro, Gamini Dissanayake
In this paper, we study extensions to the Gaussian Processes (GPs) continuous occupancy mapping problem. There are two classes of occupancy mapping problems that we particularly in…
Designing Sparse Reliable Pose-Graph SLAM: A Graph-Theoretic Approach
Kasra Khosoussi, Gaurav S. Sukhatme, Shoudong Huang +1
In this paper, we aim to design sparse D-optimal (determinantoptimal) pose-graph SLAM problems through the synthesis of sparse graphs with the maximum weighted number of spanning t…
Fast, On-board, Model-aided Visual-Inertial Odometry System for Quadrotor Micro Aerial Vehicles
Dinuka Abeywardena, Shoudong Huang, Ben Barnes +2
The main contribution of this paper is a high frequency, low-complexity, on-board visual-inertial odometry system for quadrotor micro air vehicles. The system consists of an extend…
Sampling-based Incremental Information Gathering with Applications to Robotic Exploration and Environmental Monitoring
Maani Ghaffari Jadidi, Jaime Valls Miro, Gamini Dissanayake
In this article, we propose a sampling-based motion planning algorithm equipped with an information-theoretic convergence criterion for incremental informative motion planning. The…
Gaussian Process Autonomous Mapping and Exploration for Range Sensing Mobile Robots
Maani Ghaffari Jadidi, Jaime Valls Miro, Gamini Dissanayake
Most of the existing robotic exploration schemes use occupancy grid representations and geometric targets known as frontiers. The occupancy grid representation relies on the assump…
RISAS: A Novel Rotation, Illumination, Scale Invariant Appearance and Shape Feature
Kanzhi Wu, Xiaoyang Li, Ravindra Ranasinghe +2
This paper presents a novel appearance and shape feature, RISAS, which is robust to viewpoint, illumination, scale and rotation variations. RISAS consists of a keypoint detector an…
Improved State Estimation in Quadrotor MAVs: A Novel Drift-Free Velocity Estimator
Dinuka Abeywardena, Sarath Kodagoda, Gamini Dissanayake +1
This paper describes the synthesis and evaluation of a novel state estimator for a Quadrotor Micro Aerial Vehicle. Dynamic equations which relate acceleration, attitude and the aer…