Zobrazeno 1 - 10
of 173
pro vyhledávání: '"ROSEN, DAVID M."'
The number and arrangement of sensors on mobile robot dramatically influence its perception capabilities. Ensuring that sensors are mounted in a manner that enables accurate detection, localization, and mapping is essential for the success of downstr
Externí odkaz:
http://arxiv.org/abs/2309.10698
Autor:
Papalia, Alan, Fishberg, Andrew, O'Neill, Brendan W., How, Jonathan P., Rosen, David M., Leonard, John J.
We present the first algorithm to efficiently compute certifiably optimal solutions to range-aided simultaneous localization and mapping (RA-SLAM) problems. Robotic navigation systems increasingly incorporate point-to-point ranging sensors, leading t
Externí odkaz:
http://arxiv.org/abs/2302.11614
We present a novel initialization technique for the range-aided simultaneous localization and mapping (RA-SLAM) problem. In RA-SLAM we consider measurements of point-to-point distances in addition to measurements of rigid transformations to landmark
Externí odkaz:
http://arxiv.org/abs/2210.03177
Autor:
Rosen, David M.
Convex (specifically semidefinite) relaxation provides a powerful approach to constructing robust machine perception systems, enabling the recovery of certifiably globally optimal solutions of challenging estimation problems in many practical setting
Externí odkaz:
http://arxiv.org/abs/2207.05257
Simultaneous localization and mapping (SLAM) is a critical capability in autonomous navigation, but in order to scale SLAM to the setting of "lifelong" SLAM, particularly under memory or computation constraints, a robot must be able to determine what
Externí odkaz:
http://arxiv.org/abs/2203.13897
Autor:
Tian, Yulun, Bedi, Amrit Singh, Koppel, Alec, Calvo-Fullana, Miguel, Rosen, David M., How, Jonathan P.
We present the first distributed optimization algorithm with lazy communication for collaborative geometric estimation, the backbone of modern collaborative simultaneous localization and mapping (SLAM) and structure-from-motion (SfM) applications. Ou
Externí odkaz:
http://arxiv.org/abs/2203.00851