Visual and inertial sensors, in combination, are able to provide accurate motion estimates and are well-suited for use in many robot navigation tasks. However, correct data fusion...
We show how to recover 2D structure and motion linearly in order to initialize Simultaneous Mapping and Localization (SLAM) for bearings-only measurements and planar motion. The m...
Abstract— In this paper, we present a new hierarchical optimization solution to the graph-based simultaneous localization and mapping (SLAM) problem. During online mapping, the a...
We describe a Simultaneous Localization and Mapping (SLAM) method for a hovering underwater vehicle that will explore underwater caves and tunnels, a true three dimensional (3D) e...
Nathaniel Fairfield, George Kantor, David Wettergr...
This paper considers trajectory planning problems for autonomous robots in information gathering tasks. The objective of the planning is to maximize the information gathered withi...
Cindy Leung, Shoudong Huang, Ngai Ming Kwok, Gamin...