A tutorial on quantitative trajectory evaluation for visual (-inertial) odometry
Z Zhang, D Scaramuzza - 2018 IEEE/RSJ International …, 2018 - ieeexplore.ieee.org
In this tutorial, we provide principled methods to quantitatively evaluate the quality of an
estimated trajectory from visual (-inertial) odometry (VO/VIO), which is the foundation of …
estimated trajectory from visual (-inertial) odometry (VO/VIO), which is the foundation of …
[HTML][HTML] Integrated trajectory estimation for 3D kinematic mapping with GNSS, INS and imaging sensors: A framework and review
Trajectory estimation refers to the task of obtaining position and orientation estimates by
fusing various sensor inputs. In kinematic mapping, global navigation satellite systems …
fusing various sensor inputs. In kinematic mapping, global navigation satellite systems …
Past, present, and future of simultaneous localization and mapping: Toward the robust-perception age
Simultaneous localization and mapping (SLAM) consists in the concurrent construction of a
model of the environment (the map), and the estimation of the state of the robot moving …
model of the environment (the map), and the estimation of the state of the robot moving …
Continuous-time Gaussian process motion planning via probabilistic inference
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 …
probabilistic inference. We first show how smooth continuous-time trajectories can be …
Motion planning diffusion: Learning and planning of robot motions with diffusion models
Learning priors on trajectory distributions can help accelerate robot motion planning
optimization. Given previously successful plans, learning trajectory generative models as …
optimization. Given previously successful plans, learning trajectory generative models as …
Decentralized active information acquisition: Theory and application to multi-robot SLAM
This paper addresses the problem of controlling mobile sensing systems to improve the
accuracy and efficiency of gathering information autonomously. It applies to scenarios such …
accuracy and efficiency of gathering information autonomously. It applies to scenarios such …
Continuum robot state estimation using gaussian process regression on se (3)
S Lilge, TD Barfoot… - The International Journal …, 2022 - journals.sagepub.com
Continuum robots have the potential to enable new applications in medicine, inspection,
and countless other areas due to their unique shape, compliance, and size. Excellent …
and countless other areas due to their unique shape, compliance, and size. Excellent …
Active observing in continuous-time control
The control of continuous-time environments while actively deciding when to take costly
observations in time is a crucial yet unexplored problem, particularly relevant to real-world …
observations in time is a crucial yet unexplored problem, particularly relevant to real-world …
Do we need to compensate for motion distortion and doppler effects in spinning radar navigation?
K Burnett, AP Schoellig… - IEEE Robotics and …, 2021 - ieeexplore.ieee.org
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 …
radar is being revisited as a parallel sensing modality to vision and lidar. Recent works have …
[PDF][PDF] Motion planning as probabilistic inference using Gaussian processes and factor graphs.
With the increased use of high degree-of-freedom robots that must perform tasks in real-
time, there is a need for fast algorithms for motion planning. In this work, we view motion …
time, there is a need for fast algorithms for motion planning. In this work, we view motion …