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09/11/2023
CARE: Confidence-rich Autonomous Robot Exploration using Bayesian Kernel Inference and Optimization
In this paper, we consider improving the efficiency of information-based...
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10/11/2022
Observability Analysis of Graph SLAM-Based Joint Calibration of Multiple Microphone Arrays and Sound Source Localization
Multiple microphone arrays have many applications in robot audition, inc...
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08/08/2022
SLAM-TKA: Real-time Intra-operative Measurement of Tibial Resection Plane in Conventional Total Knee Arthroplasty
Total knee arthroplasty (TKA) is a common orthopaedic surgery to replace...
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04/26/2022
Map-based Visual-Inertial Localization: Consistency and Complexity
Drift-free localization is essential for autonomous vehicles. In this pa...
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05/21/2021
Direct Simultaneous Multi-Image Registration
This paper presents a novel algorithm that registers a collection of mon...
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03/21/2021
Toward Consistent Drift-free Visual Inertial Localization on Keyframe Based Map
Global localization is essential for robots to perform further tasks lik...
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03/22/2020
Dynamic Reconstruction of Deformable Soft-tissue with Stereo Scope in Minimal Invasive Surgery
In minimal invasive surgery, it is important to rebuild and visualize th...
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02/27/2020
Globally optimal consensus maximization for robust visual inertial localization in point and line map
Map based visual inertial localization is a crucial step to reduce the d...
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11/13/2019
Analysis of minima for geodesic and chordal cost for a minimal 2D pose-graph SLAM problem
In this paper, we show that for a minimal pose-graph problem, even in th...
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11/13/2019
Existence of local minima of a minimal 2D pose-graph SLAM problem
In this paper, we show that for a minimal pose-graph problem, even in th...
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06/20/2019
An observable time series based SLAM algorithm for deforming environment
In this paper, we study the back-end of simultaneous localization and ma...
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06/20/2019
Efficient two step optimization for large embedded deformation graph based SLAM
Embedded deformation nodes based formulation has been widely applied in ...
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05/23/2019
IN2LAAMA: INertial Lidar Localisation Autocalibration And MApping
In this paper, we present INertial Lidar Localisation Autocalibration An...
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01/28/2019
Online Estimation of Ocean Current from Sparse GPS Data for Underwater Vehicles
Underwater robots are subject to position drift due to the effect of oce...
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09/18/2018
Linear SLAM: Linearising the SLAM Problems using Submap Joining
The main contribution of this paper is a new submap joining based approa...
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07/10/2018
Parallax Bundle Adjustment on Manifold with Convexified Initialization
Bundle adjustment (BA) with parallax angle based feature parameterizatio...
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03/06/2018
