3 accepted papers
In this paper, we propose a flexible mapping scheme that uses a masking function (mask) to focus the attention of a pose graph SLAM (Simultaneous Localization and Mapping) system. The masking function takes the robot's observations and returns true if the robot is in an important location. State-of-…
Fiducials are artificial features with a variety of uses in computer vision such as object tracking and localization. We propose the idea of flexible tag layouts for visual fiducial systems. In contrast to traditional square tags, flexible tag layouts allow circular, annular, or other shapes as desi…
We propose an ultra-wideband-based (UWB) localization system that achieves high accuracy through nonparametric estimation of measurement probability densities and explicit modeling of antenna delays. This problem is difficult because non-line-of-sight conditions give rise to multimodal errors, which…