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09/20/2023
GNSS/Multi-Sensor Fusion Using Continuous-Time Factor Graph Optimization for Robust Localization
Accurate and robust vehicle localization in highly urbanized areas is ch...
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09/19/2023
Change of Scenery: Unsupervised LiDAR Change Detection for Mobile Robots
This paper presents a fully unsupervised deep change detection approach ...
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09/17/2023
Off the Beaten Track: Laterally Weighted Motion Planning for Local Obstacle Avoidance
We extend the behaviour of generic sample-based motion planners to suppo...
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09/16/2023
Optimal Initialization Strategies for Range-Only Trajectory Estimation
Range-only (RO) pose estimation involves determining a robot's pose over...
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09/15/2023
Pointing the Way: Refining Radar-Lidar Localization Using Learned ICP Weights
This paper presents a novel deep-learning-based approach to improve loca...
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09/11/2023
STAR-loc: Dataset for STereo And Range-based localization
This document contains a detailed description of the STAR-loc dataset. F...
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09/08/2023
Data-Driven Batch Localization and SLAM Using Koopman Linearization
We present a framework for model-free batch localization and SLAM. We us...
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09/08/2023
Toward Certifying Maps for Safe Localization Under Adversarial Corruption
In this paper, we propose a way to model the resilience of the Iterative...
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08/23/2023
Certifiably Optimal Rotation and Pose Estimation Based on the Cayley Map
We present novel, tight, convex relaxations for rotation and pose estima...
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08/14/2023
On Semidefinite Relaxations for Matrix-Weighted State-Estimation Problems in Robotics
In recent years, there has been remarkable progress in the development o...
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08/10/2023
Toward Globally Optimal State Estimation Using Automatically Tightened Semidefinite Relaxations
In recent years, semidefinite relaxations of common optimization problem...
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06/22/2023
What to Learn: Features, Image Transformations, or Both?
Long-term visual localization is an essential problem in robotics and co...
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05/02/2023
A New Wave in Robotics: Survey on Recent mmWave Radar Applications in Robotics
We survey the current state of millimeterwave (mmWave) radar application...
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04/18/2023
Continuous-Time Range-Only Pose Estimation
Range-only (RO) localization involves determining the position of a mobi...
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03/11/2023
Need for Speed: Fast Correspondence-Free Lidar Odometry Using Doppler Velocity
In this paper, we present a fast, lightweight odometry method that uses ...
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03/11/2023
Towards Consistent Batch State Estimation Using a Time-Correlated Measurement Noise Model
In this paper, we present an algorithm for learning time-correlated meas...
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11/30/2022
Self-Supervised Feature Learning for Long-Term Metric Visual Localization
Visual localization is the task of estimating camera pose in a known sce...
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11/03/2022
Along Similar Lines: Local Obstacle Avoidance for Long-term Autonomous Path Following
Visual Teach and Repeat 3 (VT R3), a generalization of stereo VT R, ...
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10/26/2022
Continuum Robot State Estimation Using Gaussian Process Regression on SE(3)
Continuum robots have the potential to enable new applications in medici...
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09/23/2022
Stochastic Planning for ASV Navigation Using Satellite Images
Autonomous surface vessels (ASV) represent a promising technology to aut...
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09/09/2022
Safe and Smooth: Certified Continuous-Time Range-Only Localization
A common approach to localize a mobile robot is by measuring distances t...
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09/07/2022
Picking Up Speed: Continuous-Time Lidar-Only Odometry using Doppler Velocity Measurements
Frequency-Modulated Continuous-Wave (FMCW) lidar is a recently emerging ...
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08/26/2022
The Foreseeable Future: Self-Supervised Learning to Predict Dynamic Scenes for Indoor Navigation
We present a method for generating, predicting, and using Spatiotemporal...
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06/26/2022
An Efficient Global Optimality Certificate for Landmark-Based SLAM
Modern state estimation is often formulated as an optimization problem a...
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06/10/2022
A Fine Line: Total Least-Squares Line Fitting as QCQP Optimization
This note uses the Total Least-Squares (TLS) line-fitting problem as a c...
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06/08/2022
On the Eigenstructure of Rotations and Poses: Commonalities and Peculiarities
Rotations and poses are ubiquitous throughout many fields of science and...
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03/18/2022
Should Radar Replace Lidar in All-Weather Mapping and Localization?
Radar is a rich sensing modality that is a compelling alternative to lid...
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03/18/2022
Boreas: A Multi-Season Autonomous Driving Dataset
The Boreas dataset was collected by driving a repeated route over the co...
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09/14/2021
Koopman Linearization for Data-Driven Batch State Estimation of Control-Affine Systems
We present the Koopman State Estimator (KoopSE), a framework for model-f...
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09/09/2021
Keeping an Eye on Things: Deep Learned Features for Long-Term Visual Localization
In this paper, we learn visual features that we use to first build a map...
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08/24/2021
Learning Spatiotemporal Occupancy Grid Maps for Lifelong Navigation in Dynamic Scenes
We present a novel method for generating, predicting, and using Spatiote...
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06/03/2021
Experimental Comparison of Visual and Single-Receiver GPS Odometry
Mobile robots rely on odometry to navigate through areas where localizat...
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05/29/2021
Radar Odometry Combining Probabilistic Estimation and Unsupervised Feature Learning
This paper presents a radar odometry method that combines probabilistic ...
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05/25/2021
Self-Calibration of the Offset Between GPS and Semantic Map Frames for Robust Localization
In self-driving, standalone GPS is generally considered to have insuffic...
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03/12/2021
Vectorial Parameterizations of Pose
Robotics and computer vision problems commonly require handling rigid-bo...
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03/05/2021
A Geometric Algebra Solution to Wahba's Problem
We retrace Davenport's solution to Wahba's classic problem of aligning t...
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02/22/2021
Unsupervised Learning of Lidar Features for Use in a Probabilistic Trajectory Estimator
We present unsupervised parameter learning in a Gaussian variational inf...
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02/10/2021
UAV Localization Using Autoencoded Satellite Images
We propose and demonstrate a fast, robust method for using satellite ima...
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01/13/2021
Relatively Lazy: Indoor-Outdoor Navigation Using Vision and GNSS
Visual Teach and Repeat (VT R) has shown relative navigation is a robu...
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12/10/2020
Self-Supervised Learning of Lidar Segmentation for Autonomous Indoor Navigation
We present a self-supervised learning approach for the semantic segmenta...
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11/06/2020
Do We Need to Compensate for Motion Distortion and Doppler Effects in Radar-Based Navigation?
In order to tackle the challenge of unfavorable weather conditions such ...
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10/15/2020
Fundamental Linear Algebra Problem of Gaussian Inference
Underlying many Bayesian inference techniques that seek to approximate t...
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05/14/2020
Variational Inference as Iterative Projection in a Bayesian Hilbert Space
Variational Bayesian inference is an important machine-learning tool tha...
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04/19/2020
Zeus: A System Description of the Two-Time Winner of the Collegiate SAE AutoDrive Competition
The SAE AutoDrive Challenge is a three-year collegiate competition to de...
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03/21/2020
Variational Inference with Parameter Learning Applied to Vehicle Trajectory Estimation
We present parameter learning in a Gaussian variational inference settin...
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03/05/2020
DeepMEL: Compiling Visual Multi-Experience Localization into a Deep Neural Network
Vision-based path following allows robots to autonomously repeat manuall...
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01/27/2020
Multivariate Gaussian Variational Inference by Natural Gradient Descent
This short note reviews so-called Natural Gradient Descent (NGD) for mul...
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11/09/2019
Exactly Sparse Gaussian Variational Inference with Application to Derivative-Free Batch Nonlinear State Estimation
We present a Gaussian Variational Inference (GVI) technique that can be ...
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05/21/2019
aUToTrack: A Lightweight Object Detection and Tracking System for the SAE AutoDrive Challenge
The University of Toronto is one of eight teams competing in the SAE Aut...
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09/19/2018