2.5k citations · 3.8k across the 40 of their papers we have counts for
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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…
Bayesian Spatial Kernel Smoothing for Scalable Dense Semantic Mapping
Lu Gan, Ray Zhang, Jessy W. Grizzle +2
This paper develops a Bayesian continuous 3D semantic occupancy map from noisy point clouds by generalizing the Bayesian kernel inference model for building occupancy maps, a binar…
LiDARTag: A Real-Time Fiducial Tag System for Point Clouds
Jiunn-Kai Huang, Shoutian Wang, Maani Ghaffari +1
Image-based fiducial markers are useful in problems such as object tracking in cluttered or textureless environments, camera (and multi-sensor) calibration tasks, and vision-based…
Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation
Ross Hartley, Maani Ghaffari, Ryan M. Eustice +1
Legged robots require knowledge of pose and velocity in order to maintain stability and execute walking paths. Current solutions either rely on vision data, which is susceptible to…
Continuous Direct Sparse Visual Odometry from RGB-D Images
Maani Ghaffari, William Clark, Anthony Bloch +2
This paper reports on a novel formulation and evaluation of visual odometry from RGB-D images. Assuming a static scene, the developed theoretical framework generalizes the widely u…