14 citations · 30 across the 13 of their papers we have counts for
9 papers · 1 filter
MidasTouch: Monte-Carlo inference over distributions across sliding touch
Sudharshan Suresh, Zilin Si, Stuart Anderson +2
We present MidasTouch, a tactile perception system for online global localization of a vision-based touch sensor sliding on an object surface. This framework takes in posed tactile…
Acoustic Localization and Communication Using a MEMS Microphone for Low-cost and Low-power Bio-inspired Underwater Robots
Akshay Hinduja, Yunsik Ohm, Jiahe Liao +2
Having accurate localization capabilities is one of the fundamental requirements of autonomous robots. For underwater vehicles, the choices for effective localization are limited d…
Group- Consistent Measurement Set Maximization for Robust Outlier Detection
Brendon Forsgren, Ram Vasudevan, Michael Kaess +2
This paper presents a method for the robust selection of measurements in a simultaneous localization and mapping (SLAM) framework. Existing methods check consistency or compatibili…
CMU-GPR Dataset: Ground Penetrating Radar Dataset for Robot Localization and Mapping
Alexander Baikovitz, Paloma Sodhi, Michael Dille +1
There has been exciting recent progress in using radar as a sensor for robot navigation due to its increased robustness to varying environmental conditions. However, within these d…
Ground Encoding: Learned Factor Graph-based Models for Localizing Ground Penetrating Radar
Alexander Baikovitz, Paloma Sodhi, Michael Dille +1
We address the problem of robot localization using ground penetrating radar (GPR) sensors. Current approaches for localization with GPR sensors require a priori maps of the system'…
Learning Tactile Models for Factor Graph-based Estimation
Paloma Sodhi, Michael Kaess, Mustafa Mukadam +1
We're interested in the problem of estimating object states from touch during manipulation under occlusions. In this work, we address the problem of estimating object poses from to…