Tsang-Kai Chang

2 accepted papers

2022

BOEM-SLAM: A Block Online EM Algorithm for the Visual-Inertial SLAM Backend

Tsang-Kai Chang, Alexandra Pogue, Ankur Mehta

IROS 2022poster

In this paper we present BOEM-SLAM, a backend for visual-inertial SLAM systems capable of creating a globally consistent trajectory and map without retaining the entire history of data. By leveraging the hidden Markov model structure, BOEM-SLAM can summarize historical data into sufficient statistic…

Cited by 1 Source ↗Scholar ↗

2018

Optimal Scheduling for Resource-Constrained Multirobot Cooperative Localization

Tsang-Kai Chang, Ankur Mehta

RA-L 2018

Typically, localization algorithms focus on maximizing estimation accuracy, often while neglecting some of the realworld costs of achieving such performance. In this letter, we formulate optimal scheduling problems of multirobot localization to investigate the tradeoff between estimate accuracy and

Cited by 13 Source ↗Scholar ↗