3 accepted papers
Fiducial markers are important tools for robotic navigation and imaging, enabling accurate localization and tracking of objects in challenging environments. In this paper, we present AcTag, a new fiducial marker design for use underwater with imaging sonar and cameras, as well as a method for the de…
Sonar sensors play an integral part in underwater robotic perception by providing imagery at long distances where standard optical cameras cannot. They have proven to be an important part in various robotic algorithms including localization, mapping, and structure from motion. Unfortunately, generat…
Recent advances in the utilization of Lie Groups for robotic localization have led to dramatic increases in the accuracy of estimation and uncertainty characterization. One of the novel methods, the Invariant Extended Kalman Filter (InEKF) extends the Extended Kalman Filter (EKF) by leveraging the f