397 citations · 707 across the 18 of their papers we have counts for
7 papers · 2 filters
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…
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…
Characterizing the Uncertainty of Jointly Distributed Poses in the Lie Algebra
Joshua G. Mangelson, Maani Ghaffari, Ram Vasudevan +1
An accurate characterization of pose uncertainty is essential for safe autonomous navigation. Early pose uncertainty characterization methods proposed by Smith, Self, and Cheeseman…
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…