Sam Zeng

2 accepted papers

2017

Robust localization and localizability estimation with a rotating laser scanner

Weikun Zhen, Sam Zeng, Sebastian Soberer

ICRA 2017poster

This paper presents a robust localization approach that fuses measurements from inertial measurement unit (IMU) and a rotating laser scanner. An Error State Kalman Filter (ESKF) is used for sensor fusion and is combined with a Gaussian Particle Filter (GPF) for measurements update. We experimentally…

Cited by 118 Source ↗Scholar ↗

2016

Introspective perception: Learning to predict failures in vision systems

Shreyansh Daftry, Sam Zeng, J. Andrew Bagnell, Martial Hebert

IROS 2016poster

As robots aspire for long-term autonomous operations in complex dynamic environments, the ability to reliably take mission-critical decisions in ambiguous situations becomes critical. This motivates the need to build systems that have situational awareness to assess how quali ed they are at that mom…

Cited by 105 Source ↗Scholar ↗