Peter Henry — accepted AI-conference papers

2022

SymForce: Symbolic Computation and Code Generation for Robotics

Hayk Martiros, Aaron Miller, Nathan Bucki, Bradley Solliday, Ryan Kennedy, Jack Zhu +10

RSS 2022poster

We present SymForce, a library for fast symbolic computation, code generation, and nonlinear optimization for robotics applications like computer vision, motion planning, and controls. SymForce combines the development speed and flexibility of symbolic math with the performance of autogenerated, hig…

Cited by 22 Source ↗PDF ↗code ↗Scholar ↗

2017

End-To-End Learning of Geometry and Context for Deep Stereo Regression

Alex Kendall, Hayk Martirosyan, Saumitro Dasgupta, Peter Henry, Ryan Kennedy, Abraham Bachrach +1

ICCV 2017spotlight

We propose a novel deep learning architecture for regressing disparity from a rectified pair of stereo images. We leverage knowledge of the problem's geometry to form a cost volume using deep feature representations. We learn to incorporate contextual information using 3-D convolutions over this vol…

Cited by 1619 PDF ↗Scholar ↗