89 citations · 375 across the 17 of their papers we have counts for
7 papers · 1 filter
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…
From the Skin-Depth Equation to the Inverse RFEC Sensor Model
Raphael Falque, Teresa Vidal-Calleja, Gamini Dissanayake +1
In this paper, we tackle the direct and inverse problems for the Remote-Field Eddy-Current (RFEC) technology. The direct problem is the sensor model, where given the geometry the m…
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…
Maximizing the Weighted Number of Spanning Trees: Near--Optimal Graphs
Kasra Khosoussi, Gaurav S. Sukhatme, Shoudong Huang +1
Designing well-connected graphs is a fundamental problem that frequently arises in various contexts across science and engineering. The weighted number of spanning trees, as a conn…
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…