John D. Kelly — accepted AI-conference papers

2023

Monocular Simultaneous Localization and Mapping using Ground Textures

Kyle M. Hart, Brendan Englot, Ryan P. O'Shea, John D. Kelly, David Martinez

ICRA 2023poster

Recent work has shown impressive localization performance using only images of ground textures taken with a downward facing monocular camera. This provides a reliable navigation method that is robust to feature sparse environments and challenging lighting conditions. However, these localization meth…

Cited by 4 Source ↗code ↗Scholar ↗

2018

Relative Pose Estimation From Image Correspondences Under a Remote Center of Motion Constraint

Francisco Vasconcelos, Evangelos B. Mazomenos, John D. Kelly, Sébastien Ourselin, Danail Stoyanov

RA-L 2018

This letter proposes an algorithm to estimate the relative pose between two image view-points assuming that a camera is moving under a remote center of motion constraint. This is useful in minimally invasive robotic surgery, where the motion of a laparoscopic camera is constrained by the keyhole ins

Cited by 3 Source ↗Scholar ↗