3 papers
cs.RO2025
Robust Statistics vs. Machine Learning vs. Bayesian Inference: Insights into Handling Faulty GNSS Measurements in Field Robotics
Haoming Zhang
This paper presents research findings on handling faulty measurements (i.e., outliers) of global navigation satellite systems (GNSS) for vehicle localization under adverse signal c…
cs.RO2025
Good Deep Features to Track: Self-Supervised Feature Extraction and Tracking in Visual Odometry
Sai Puneeth Reddy Gottam, Haoming Zhang, Eivydas Keras
Visual-based localization has made significant progress, yet its performance often drops in large-scale, outdoor, and long-term settings due to factors like lighting changes, dynam…
cs.RO2025
Learning-based GNSS Uncertainty Quantification using Continuous-Time Factor Graph Optimization
Haoming Zhang
This short paper presents research findings on two learning-based methods for quantifying measurement uncertainties in global navigation satellite systems (GNSS). We investigate tw…