Mitchell Usayiwevu — accepted AI-conference papers

2023

Probabilistic Plane Extraction and Modeling for Active Visual-Inertial Mapping

Mitchell Usayiwevu, Fouad Sukkar, Teresa Vidal-Calleja

ICRA 2023poster

This paper presents an active visual-inertial mapping framework with points and planes. The key aspect of the proposed framework is a novel probabilistic plane extraction with its associated model for estimation. The approach allows the extraction of plane parameters and their uncertainties based on…

Cited by 3 Source ↗Scholar ↗

2020

Information Driven Self-Calibration for Lidar-Inertial Systems

Mitchell Usayiwevu, Cedric Le Gentil, Jasprabhjit Mehami, Chanyeol Yoo, Robert Fitch, Teresa Vidal-Calleja

IROS 2020poster

Multi-modal estimation systems have the advantage of increased accuracy and robustness. To achieve accurate sensor fusion with these types of systems, a reliable extrinsic calibration between each sensor pair is critical. This paper presents a novel self-calibration framework for lidar-inertial syst…

Cited by 7 Source ↗Scholar ↗