Robust Incremental Smoothing and Mapping
NSH 3001Abstract: In this work we present a method for robust optimization for online incremental Simultaneous Localization and Mapping (SLAM). Due to the NP-Hardness of data association in the presence of perceptual aliasing, tractable (approximate) approaches to data association will produce erroneous measurements. We require SLAM back-ends that can converge to accurate solutions in the presence [...]
3D Reconstruction using Differential Imaging
GHC 4405Abstract: 3D reconstruction has been at the core of many computer vision applications, including autonomous driving, visual inspection in manufacturing, and augmented and virtual reality (AR/VR). Because monocular 3D sensing is fundamentally ill-posed, many techniques aiming for accurate reconstruction use multiple captures to solve the inverse problem. Depending on the amount of change in these [...]
Learning with Structured Priors for Robust Robot Manipulation
NSH 4305Abstract: Robust and generalizable robots that can autonomously manipulate objects in semi-structured environments can bring material benefits to society. Data-driven learning approaches are crucial for enabling such systems by identifying and exploiting patterns in semi-structured environments, allowing robots to adapt to novel scenarios with minimal human supervision. However, despite significant prior work in learning for [...]