Zobrazeno 1 - 10
of 36
pro vyhledávání: '"Dümbgen, Frederike"'
Contact estimation is a key ability for limbed robots, where making and breaking contacts has a direct impact on state estimation and balance control. Existing approaches typically rely on gate-cycle priors or designated contact sensors. We design a
Externí odkaz:
http://arxiv.org/abs/2410.12345
In recent years, many estimation problems in robotics have been shown to be solvable to global optimality using their semidefinite relaxations. However, the runtime complexity of off-the-shelf semidefinite programming (SDP) solvers is up to cubic in
Externí odkaz:
http://arxiv.org/abs/2406.02365
Differentiable optimization is a powerful new paradigm capable of reconciling model-based and learning-based approaches in robotics. However, the majority of robotics optimization problems are non-convex and current differentiable optimization techni
Externí odkaz:
http://arxiv.org/abs/2405.19309
Autor:
Dümbgen, Frederike
In order to operate in and interact with the physical world, robots need to have estimates of the current and future state of the environment. We thus equip robots with sensors and build models and algorithms that, given some measurements, produce es
Externí odkaz:
http://arxiv.org/abs/2405.19301
Range-only (RO) pose estimation involves determining a robot's pose over time by measuring the distance between multiple devices on the robot, known as tags, and devices installed in the environment, known as anchors. The nonconvex nature of the rang
Externí odkaz:
http://arxiv.org/abs/2309.09011
Autor:
Dümbgen, Frederike, Shalaby, Mohammed A., Holmes, Connor, Cossette, Charles C., Forbes, James R., Ny, Jerome Le, Barfoot, Timothy D.
This document contains a detailed description of the STAR-loc dataset. For a quick starting guide please refer to the associated Github repository (https://github.com/utiasASRL/starloc). The dataset consists of stereo camera data (rectified/raw image
Externí odkaz:
http://arxiv.org/abs/2309.05518
Publikováno v:
IEEE Transactions on Robotics, vol. 40, pp. 3964-3983, 2024
We present a framework for model-free batch localization and SLAM. We use lifting functions to map a control-affine system into a high-dimensional space, where both the process model and the measurement model are rendered bilinear. During training, w
Externí odkaz:
http://arxiv.org/abs/2309.04375
We present novel, convex relaxations for rotation and pose estimation problems that can a posteriori guarantee global optimality for practical measurement noise levels. Some such relaxations exist in the literature for specific problem setups that as
Externí odkaz:
http://arxiv.org/abs/2308.12418
In recent years, there has been remarkable progress in the development of so-called certifiable perception methods, which leverage semidefinite, convex relaxations to find global optima of perception problems in robotics. However, many of these relax
Externí odkaz:
http://arxiv.org/abs/2308.07275
In recent years, semidefinite relaxations of common optimization problems in robotics have attracted growing attention due to their ability to provide globally optimal solutions. In many cases, it was shown that specific handcrafted redundant constra
Externí odkaz:
http://arxiv.org/abs/2308.05783