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09/18/2023
Learning Covariances for Estimation with Constrained Bilevel Optimization
We consider the problem of learning error covariance matrices for roboti...
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09/05/2023
Learning Observation Models with Incremental Non-Differentiable Graph Optimizers in the Loop for Robotics State Estimation
We consider the problem of learning observation models for robot state e...
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08/04/2023
Group-k consistent measurement set maximization via maximum clique over k-Uniform hypergraphs for robust multi-robot map merging
This paper unifies the theory of consistent-set maximization for robust ...
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10/25/2022
MidasTouch: Monte-Carlo inference over distributions across sliding touch
We present MidasTouch, a tactile perception system for online global loc...
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10/05/2022
TartanCalib: Iterative Wide-Angle Lens Calibration using Adaptive SubPixel Refinement of AprilTags
Wide-angle cameras are uniquely positioned for mobile robots, by virtue ...
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10/03/2022
Acoustic Localization and Communication Using a MEMS Microphone for Low-cost and Low-power Bio-inspired Underwater Robots
Having accurate localization capabilities is one of the fundamental requ...
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09/28/2022
Robust Incremental Smoothing and Mapping (riSAM)
This paper presents a method for robust optimization for online incremen...
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09/23/2022
Conditional GANs for Sonar Image Filtering with Applications to Underwater Occupancy Mapping
Underwater robots typically rely on acoustic sensors like sonar to perce...
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09/17/2022
Neural Implicit Surface Reconstruction using Imaging Sonar
We present a technique for dense 3D reconstruction of objects using an i...
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09/06/2022
Group-k Consistent Measurement Set Maximization for Robust Outlier Detection
This paper presents a method for the robust selection of measurements in...
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03/29/2022
Long-term Visual Map Sparsification with Heterogeneous GNN
We address the problem of map sparsification for long-term visual locali...
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12/06/2021
Real-time Registration and Reconstruction with Cylindrical LiDAR Images
Spinning LiDAR data are prevalent for 3D perception tasks, yet its cylin...
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11/15/2021
PatchGraph: In-hand tactile tracking with learned surface normals
We address the problem of tracking 3D object poses from touch during in-...
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10/01/2021
ASH: A Modern Framework for Parallel Spatial Hashing in 3D Perception
We present ASH, a modern and high-performance framework for parallel spa...
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09/20/2021
Efficient shape mapping through dense touch and vision
Knowledge of 3-D object shape is of great importance to robot manipulati...
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08/04/2021
LEO: Learning Energy-based Models in Graph Optimization
We address the problem of learning observation models end-to-end for est...
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07/15/2021
CMU-GPR Dataset: Ground Penetrating Radar Dataset for Robot Localization and Mapping
There has been exciting recent progress in using radar as a sensor for r...
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03/29/2021
Ground Encoding: Learned Factor Graph-based Models for Localizing Ground Penetrating Radar
We address the problem of robot localization using ground penetrating ra...
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12/07/2020
Learning Tactile Models for Factor Graph-based State Estimation
We address the problem of estimating object pose from touch during manip...
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11/13/2020
Tactile SLAM: Real-time inference of shape and pose from planar pushing
Tactile perception is central to robot manipulation in unstructured envi...
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11/05/2020
Compositional Scalable Object SLAM
We present a fast, scalable, and accurate Simultaneous Localization and ...
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05/30/2020
An Efficient Planar Bundle Adjustment Algorithm
This paper presents an efficient algorithm for the least-squares problem...
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04/03/2019
Do not Omit Local Minimizer: a Complete Solution for Pose Estimation from 3D Correspondences
Estimating pose from given 3D correspondences, including point-to-point,...
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12/08/2018
Unsupervised Learning of Monocular Depth Estimation with Bundle Adjustment, Super-Resolution and Clip Loss
We present a novel unsupervised learning framework for single view depth...
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11/14/2017
Robust Keyframe-based Dense SLAM with an RGB-D Camera
In this paper, we present RKD-SLAM, a robust keyframe-based dense SLAM a...
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03/21/2017