10 citations · 15 across the 2 of their papers we have counts for
5 papers · 1 filter
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…
Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation Using Factor Graphs
Ross Hartley, Maani Ghaffari Jadidi, Lu Gan +3
The factor graph framework is a convenient modeling technique for robotic state estimation where states are represented as nodes, and measurements are modeled as factors. When desi…
Sparse Bayesian Inference for Dense Semantic Mapping
Lu Gan, Maani Ghaffari Jadidi, Steven A. Parkison +1
Despite impressive advances in simultaneous localization and mapping, dense robotic mapping remains challenging due to its inherent nature of being a high-dimensional inference pro…
Gaussian Processes Semantic Map Representation
Maani Ghaffari Jadidi, Lu Gan, Steven A. Parkison +2
In this paper, we develop a high-dimensional map building technique that incorporates raw pixelated semantic measurements into the map representation. The proposed technique uses G…