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03/29/2023
Quantifying VIO Uncertainty
We compute the uncertainty of XIVO, a monocular visual-inertial odometry...
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03/25/2023
Feature Tracks are not Zero-Mean Gaussian
In state estimation algorithms that use feature tracks as input, it is c...
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10/05/2021
Learned Uncertainty Calibration for Visual Inertial Localization
The widely-used Extended Kalman Filter (EKF) provides a straightforward ...
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08/03/2021
SABER: Data-Driven Motion Planner for Autonomously Navigating Heterogeneous Robots
We present an end-to-end online motion planning framework that uses a da...
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06/25/2021
Scene Uncertainty and the Wellington Posterior of Deterministic Image Classifiers
We propose a method to estimate the uncertainty of the outcome of an ima...
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07/28/2020