22 citations · 44 across the 5 of their papers we have counts for
15 papers
Informable Multi-Objective and Multi-Directional RRT* System for Robot Path Planning
Jiunn-Kai Huang, Yingwen Tan, Dongmyeong Lee +2
Multi-objective or multi-destination path planning is crucial for mobile robotics applications such as mobility as a service, robotics inspection, and electric vehicle charging for…
Toward Safety-Aware Informative Motion Planning for Legged Robots
Sangli Teng, Yukai Gong, Jessy W. Grizzle +1
This paper reports on developing an integrated framework for safety-aware informative motion planning suitable for legged robots. The information-gathering planner takes a dense st…
Global Unifying Intrinsic Calibration for Spinning and Solid-State LiDARs
Jiunn-Kai Huang, Chenxi Feng, Madhav Achar +2
Sensor calibration, which can be intrinsic or extrinsic, is an essential step to achieve the measurement accuracy required for modern perception and navigation systems deployed on…
A New Framework for Registration of Semantic Point Clouds from Stereo and RGB-D Cameras
Ray Zhang, Tzu-Yuan Lin, Chien Erh Lin +5
This paper reports on a novel nonparametric rigid point cloud registration framework that jointly integrates geometric and semantic measurements such as color or semantic labels in…
Improvements to Target-Based 3D LiDAR to Camera Calibration
Jiunn-Kai Huang, Jessy W. Grizzle
The homogeneous transformation between a LiDAR and monocular camera is required for sensor fusion tasks, such as SLAM. While determining such a transformation is not considered gla…
Adaptive Continuous Visual Odometry from RGB-D Images
Tzu-Yuan Lin, William Clark, Ryan M. Eustice +3
In this paper, we extend the recently developed continuous visual odometry framework for RGB-D cameras to an adaptive framework via online hyperparameter learning. We focus on the…