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07/07/2022
Energy-based Legged Robots Terrain Traversability Modeling via Deep Inverse Reinforcement Learning
This work reports on developing a deep inverse reinforcement learning me...
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06/28/2021
Multi-Task Learning for Scalable and Dense Multi-Layer Bayesian Map Inference
This paper presents a novel and flexible multi-task multi-layer Bayesian...
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03/21/2020
Monocular Depth Prediction Through Continuous 3D Loss
This paper reports a new continuous 3D loss function for learning depth ...
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02/02/2020
DeepLocNet: Deep Observation Classification and Ranging Bias Regression for Radio Positioning Systems
WiFi technology has been used pervasively in fine-grained indoor localiz...
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12/02/2019
A Keyframe-based Continuous Visual SLAM for RGB-D Cameras via Nonparametric Joint Geometric and Appearance Representation
This paper reports on a robust RGB-D SLAM system that performs well in s...
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10/01/2019
Adaptive Continuous Visual Odometry from RGB-D Images
In this paper, we extend the recently developed continuous visual odomet...
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09/10/2019
Bayesian Spatial Kernel Smoothing for ScalableDense Semantic Mapping
This paper develops a Bayesian continuous 3D semantic occupancy map from...
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08/23/2019
LiDARTag: A Real-Time Fiducial Tag using Point Clouds
Image-based fiducial markers are widely used in robotics and computer vi...
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06/18/2019
Characterizing the Uncertainty of Jointly Distributed Poses in the Lie Algebra
An accurate characterization of pose uncertainty is essential for safe a...
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04/19/2019
Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation
Legged robots require knowledge of pose and velocity in order to maintai...
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04/03/2019
Continuous Direct Sparse Visual Odometry from RGB-D Images
This paper reports on a novel formulation and evaluation of visual odome...
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09/20/2018
Guaranteed Globally Optimal Planar Pose Graph and Landmark SLAM via Sparse-Bounded Sums-of-Squares Programming
Autonomous navigation requires an accurate model or map of the environme...
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05/26/2018
Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation
This paper derives a contact-aided inertial navigation observer for a 3D...
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03/20/2018
Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation within Factor Graphs
The factor graph framework is a convenient modeling technique for roboti...
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12/15/2017
Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors
State-of-the-art robotic perception systems have achieved sufficiently g...
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02/23/2017