Zobrazeno 1 - 10
of 25
pro vyhledávání: '"Joel A. Hesch"'
Autor:
Michael Bosse, Simon Lynen, Dror Aiger, Marc Pollefeys, Torsten Sattler, Roland Siegwart, Bernhard Zeisl, Joel A. Hesch
Publikováno v:
The International Journal of Robotics Research. 39:1061-1084
The overarching goals in image-based localization are scale, robustness, and speed. In recent years, approaches based on local features and sparse 3D point-cloud models have both dominated the benchmarks and seen successful real-world deployment. The
Autor:
Joel A. Hesch, Ruipeng Li, Georgios A. Georgiou, Chao X. Guo, Stergios I. Roumeliotis, Kourosh Sartipi, Esha D. Nerurkar, Ryan C. DuToit, John O'Leary
Publikováno v:
IEEE Transactions on Robotics. 34:1349-1369
In this paper, we address the problem of cooperative mapping (CM) using datasets collected by multiple users at different times, when the transformation between the users’ starting poses is unknown. Specifically, we formulate CM as a constrained op
Publikováno v:
IEEE Robotics & Automation Magazine. 22:24-32
Consumer-grade technology seen in cameras and phones has led to the price-performance ratio falling dramatically over the last decade. We are seeing a similar trend in robots that leverage this technology. A recent development is the interest of comp
Publikováno v:
ICRA
In this paper, a sliding-window two-camera vision-aided inertial navigation system (VINS) is presented in the square-root inverse domain. The performance of the system is assessed for the cases where feature matches across the two-camera images are p
Publikováno v:
IEEE Transactions on Robotics. 30:158-176
In this paper, we study estimator inconsistency in vision-aided inertial navigation systems (VINS) from the standpoint of system's observability. We postulate that a leading cause of inconsistency is the gain of spurious information along unobservabl
Publikováno v:
The International Journal of Robotics Research. 33:182-201
This work investigates the relationship between system observability properties and estimator inconsistency for a Vision-aided Inertial Navigation System (VINS). In particular, first we introduce a new methodology for determining the unobservable dir
Publikováno v:
SAP
Facebook's purchase of Oculus VR in 2014 ushered in a new era of consumer virtual reality head-mounted displays (HMDs). Converging technological advancements in small, high-resolution displays and motion-detection devices propelled VR beyond the purv
Autor:
Stergios I. Roumeliotis, Georgios A. Georgiou, Chao X. Guo, Esha D. Nerurkar, Ryan C. DuToit, John O'Leary, Kourosh Sartipi, Joel A. Hesch, Ruipeng Li
Publikováno v:
ICRA
In this paper, we address the problem of cooperative mapping (CM) using datasets collected by multiple users at different times, when the transformation between the users' starting poses is unknown. Specifically, we formulate CM as a constrained opti
Publikováno v:
ICRA
In this paper, we seek to provide consistent, real-time 3D localization capabilities to mobile devices navigating within previously mapped areas. To this end, we introduce the Cholesky-Schmidt-Kalman filter (C-SKF), which explicitly considers the unc
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::5c6682da00060ec1323fbf002d6ed5c9
http://arxiv.org/abs/1604.08087
http://arxiv.org/abs/1604.08087
Autor:
Stergios I. Roumeliotis, Joel A. Hesch
Publikováno v:
The International Journal of Robotics Research. 29:1400-1415
In this paper, we present the design and analysis of a portable position and orientation (pose) estimation aid for the visually impaired. Our prototype navigation aid consists of a foot-mounted pedometer and a white cane-mounted sensing package, whic