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09/14/2023
Ca^2Lib: Simple and Accurate LiDAR-RGB Calibration using Small Common Markers
In many fields of robotics, knowing the relative position and orientatio...
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08/10/2023
How-to Augmented Lagrangian on Factor Graphs
Factor graphs are a very powerful graphical representation, used to mode...
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03/29/2023
Photometric LiDAR and RGB-D Bundle Adjustment
The joint optimization of the sensor trajectory and 3D map is a crucial ...
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03/22/2023
On Domain-Specific Pre-Training for Effective Semantic Perception in Agricultural Robotics
Agricultural robots have the prospect to enable more efficient and susta...
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03/13/2023
Low Frequency Spinning LiDAR De-Skewing
Most commercially available Light Detection and Ranging (LiDAR)s measure...
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08/12/2022
Handling Constrained Optimization in Factor Graphs for Autonomous Navigation
Factor graphs are graphical models used to represent a wide variety of p...
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07/04/2022
HiPE: Hierarchical Initialization for Pose Graphs
Pose graph optimization is a non-convex optimization problem encountered...
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06/07/2022
Software Architecture for Mobile Robots
A software architecture defines the blueprints of a large computational ...
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06/07/2022
Sensors for Mobile Robots
A sensor is a device that converts a physical parameter or an environmen...
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03/29/2022
Sparse Pose Graph Optimization in Cycle Space
The state-of-the-art modern pose-graph optimization (PGO) systems are ve...
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03/24/2022
MD-SLAM: Multi-cue Direct SLAM
Simultaneous Localization and Mapping (SLAM) systems are fundamental bui...
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03/17/2021
Visual Place Recognition using LiDAR Intensity Information
Robots and autonomous systems need to know where they are within a map t...
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03/02/2020
Plug-and-Play SLAM: A Unified SLAM Architecture for Modularity and Ease of Use
Nowadays, SLAM (Simultaneous Localization and Mapping) is considered by ...
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02/25/2020
Least Squares Optimization: from Theory to Practice
Nowadays, Non-Linear Least-Squares embodies the foundation of many Robot...
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09/18/2018
Adding Cues to Binary Feature Descriptors for Visual Place Recognition
In this paper we propose an approach to embed continuous and selector cu...
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09/04/2018
Matrix Difference in Pose-Graph Optimization
Pose-Graph optimization is a crucial component of many modern SLAM syste...
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03/28/2018
Non-Linear Model Predictive Control with Adaptive Time-Mesh Refinement
In this paper, we present a novel solution for real-time, Non-Linear Mod...
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03/02/2018
An Effective Multi-Cue Positioning System for Agricultural Robotics
The self-localization capability is a crucial component for Unmanned Gro...
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02/26/2018
HBST: A Hamming Distance embedding Binary Search Tree for Visual Place Recognition
Reliable and efficient Visual Place Recognition is a major building bloc...
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09/13/2017
A General Framework for Flexible Multi-Cue Photometric Point Cloud Registration
The ability to build maps is a key functionality for the majority of mob...
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12/09/2016