Randal W. Beard

2 accepted papers

2023

Continuous-Time Trajectory Estimation for Differentially Flat Systems

Jacob C. Johnson, Joshua G. Mangelson, Randal W. Beard

RA-L 2023

Continuous-time estimation using splines on Lie groups has been gaining traction in the literature due to the ability to incorporate high-frequency sensor data without introducing new optimization parameters. However, evaluating time derivatives and Jacobians of Lie group splines is computationally

Cited by 4 Source ↗Scholar ↗

2023

Offline GNSS/Camera Extrinsic Calibration Using RTK and Fiducials

Alex D. Jordan, Jacob C. Johnson, Timothy W. McLain, Randal W. Beard

RA-L 2023

Accurate robotic state estimation often requires precise knowledge of inter-sensor offsets. In this letter we present a solution for inter-sensor calibration of systems that employ a combination of GNSS and visual-inertial sensors. RTK-GNSS and fiducial measurements are utilized to produce highly pr

Cited by 0 Source ↗Scholar ↗