As inertial and visual sensors are becoming ubiquitous, visual-inertial navigation systems
(VINS) have prevailed in a wide range of applications from mobile augmented reality to …

Trajectory estimation refers to the task of obtaining position and orientation estimates by
fusing various sensor inputs. In kinematic mapping, global navigation satellite systems …

A key aspect of robotics today is estimating the state (eg, position and orientation) of a robot,
based on noisy sensor data. This book targets students and practitioners of robotics by …

Place recognition in 3D data is a challenging task that has been commonly approached by
adapting image-based solutions. Methods based on local features suffer from ambiguity and …

We introduce a novel formulation of motion planning, for continuous-time trajectories, as
probabilistic inference. We first show how smooth continuous-time trajectories can be …

In order to tackle the challenge of unfavorable weather conditions such as rain and snow,
radar is being revisited as a parallel sensing modality to vision and lidar. Recent works have …

Modern high dynamic range (HDR) imaging pipelines align and fuse multiple low dynamic
range (LDR) images captured at different exposure times. While these methods work well in …

As cameras and inertial sensors are becoming ubiquitous in mobile devices and robots, it
holds great potential to design visual-inertial navigation systems (VINS) for efficient versatile …

Continuum robots navigate narrow, winding passageways while safely and compliantly
interacting with their environments. Sensing the robot's shape under these conditions is …

This paper shows how to carry out batch continuous-time trajectory estimation for bodies
translating and rotating in three-dimensional (3D) space, using a very efficient form of …