6 accepted papers
We present a framework for distributed Pose Graph Optimization (PGO) by formulating the problem as a second-order continuous-time dynamical system evolving on Lie groups. By modeling pose variables as massive particles subject to damping, the equilibrium points of the resulting Riemannian dynamics c…
The development of guide dog robots is expected to enhance the mobility and safety of visually impaired individuals outdoors. To assist these users in real-world navigation, walking guidance should be useful, comprehensive, and concise so that instructions are both actionable and easy to follow. Whi…
Multi-camera systems hold considerable promise for enhancing visual odometry by expanding the field of view, yet simply adding more cameras does not guarantee higher accuracy. Because increasing the number of cameras also raises the likelihood of degraded or misaligned views, appropriate handling is…
Affine Grassmannian has been favored for expressing proximity between lines and planes due to its theoretical exactness in measuring distances among features. Despite this advantage, the existing method can only measure the proximity without yielding the distance as an explicit function of rigid bod…
RGB-D cameras are crucial in robotic perception, given their ability to produce images augmented with depth data. However, their limited field of view (FOV) often requires multiple cameras to cover a broader area. In multi-camera RGB-D setups, the goal is typically to reduce camera overlap, optimizi…
In the literature points and conics have been major features for camera geometric calibration. Although conics are more informative features than points the loss of the conic property under distortion has critically limited the utility of conic features in camera calibration. Many existing approache…