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09/08/2021
Convex Iteration for Distance-Geometric Inverse Kinematics
Inverse kinematics (IK) is the problem of finding robot joint configurat...
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06/07/2021
Self-Supervised Structure-from-Motion through Tightly-Coupled Depth and Egomotion Networks
Much recent literature has formulated structure-from-motion (SfM) as a s...
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06/01/2020
A Smooth Representation of Belief over SO(3) for Deep Rotation Learning with Uncertainty
Accurate rotation estimation is at the heart of robot perception tasks s...
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02/27/2020
Self-Supervised Deep Pose Corrections for Robust Visual Odometry
We present a self-supervised deep pose correction (DPC) network that app...
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10/01/2019
Robust Data-Driven Zero-Velocity Detection for Foot-Mounted Inertial Navigation
We present two novel techniques for detecting zero-velocity events to im...
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04/02/2019
Sparse Bounded Degree Sum of Squares Optimization for Certifiably Globally Optimal Rotation Averaging
Estimating unknown rotations from noisy measurements is an important ste...
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04/01/2019
Probabilistic Regression of Rotations using Quaternion Averaging and a Deep Multi-Headed Network
Accurate estimates of rotation are crucial to vision-based motion estima...
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09/10/2018
Certifiably Globally Optimal Extrinsic Calibration from Per-Sensor Egomotion
We present a certifiably globally optimal algorithm for determining the ...
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09/10/2017
DPC-Net: Deep Pose Correction for Visual Localization
We present a novel method to fuse the power of deep networks with the co...
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08/01/2017
PROBE: Predictive Robust Estimation for Visual-Inertial Navigation
Navigation in unknown, chaotic environments continues to present a signi...
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08/01/2017
PROBE-GK: Predictive Robust Estimation using Generalized Kernels
Many algorithms in computer vision and robotics make strong assumptions ...
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09/20/2016
Reducing Drift in Visual Odometry by Inferring Sun Direction Using a Bayesian Convolutional Neural Network
We present a method to incorporate global orientation information from t...
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09/15/2016