Abstract Autonomous Underwater Vehicles (AUVs) have been focused on by research
efforts because of their extensive applications in scientific, commercial as well as military …

The Kalman filter (KF) is a popular state estimation technique that is utilized in a variety of
applications, including positioning and navigation, sensor networks, battery management …

Simultaneous Localization and Mapping (SLAM) has wide robotic applications such as
autonomous driving and unmanned aerial vehicles. Both computational efficiency and …

We present Theseus, an efficient application-agnostic open source library for differentiable
nonlinear least squares (DNLS) optimization built on PyTorch, providing a common …

Recent years have seen vast progress in the development of machine learned force fields
(MLFFs) based on ab-initio reference calculations. Despite achieving low test errors, the …

Multi-robot simultaneous localization and mapping (SLAM) is a crucial capability to obtain
timely situational awareness over large areas. Real-world applications demand multi-robot …

Factor graph optimization (FGO) recently has attracted attention as an alternative to the
extended Kalman filter (EKF) for GNSS-INS integration. This study evaluates both loosely …

In this letter, we propose a robust, real-time tightly-coupled multi-sensor fusion framework,
which fuses measurements from LiDAR, inertial sensor, and visual camera to achieve robust …

The Boreas dataset was collected by driving a repeated route over the course of 1 year,
resulting in stark seasonal variations and adverse weather conditions such as rain and …

A Lie group is an old mathematical abstract object dating back to the XIX century, when
mathematician Sophus Lie laid the foundations of the theory of continuous transformation …