3 accepted papers
Traditional dense volumetric representations for robotic mapping make simplifying assumptions about sensor noise characteristics due to computational constraints. We present a framework that, unlike conventional occupancy grid maps, explicitly models the sensor ray formation for a depth sensor via…
State-of-the-art forward facing monocular visual-inertial odometry algorithms are often brittle in practice, especially whilst dealing with initialisation and motion in directions that render the state unobservable. In such cases having a reliable complementary odometry algorithm enables robust and…
Size, weight, and power constrained platforms impose constraints on computational resources that introduce unique challenges in implementing localization algorithms. We present a framework to perform fast localization on such platforms enabled by the compressive capabilities of Gaussian Mixture Mode…