10 citations · 19 across the 5 of their papers we have counts for
8 papers · 1 filter
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 Path-Dependent Variational Framework for Incremental Information Gathering
William Clark, Maani Ghaffari
Information gathered along a path is inherently submodular; the incremental amount of information gained along a path decreases due to redundant observations. In addition to submod…
DeepLocNet: Deep Observation Classification and Ranging Bias Regression for Radio Positioning Systems
Sahib Singh Dhanjal, Maani Ghaffari, Ryan M. Eustice
WiFi technology has been used pervasively in fine-grained indoor localization, gesture recognition, and adaptive communication. Achieving better performance in these tasks generall…
A Keyframe-based Continuous Visual SLAM for RGB-D Cameras via Nonparametric Joint Geometric and Appearance Representation
Xi Lin, Dingyi Sun, Tzu-Yuan Lin +2
This paper reports on a robust RGB-D SLAM system that performs well in scarcely textured and structured environments. We present a novel keyframe-based continuous visual odometry t…
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…