相关论文: Improving the Iterative Closest Point Algorithm us…

This work focuses on Registration or Alignment of 3D point sets. Although the Registration problem is a well established problem and it's solved using multiple variants of Iterative Closest Point (ICP) Algorithm, most of the approaches in…

In the Canadian's lumber industry, simulators are used to predict the lumbers resulting from the sawing of a log at a given sawmill. Giving a log or several logs' 3D scans as input, simulators perform a real-time job to predict the lumbers.…

Inertial navigation systems for pedestrians are infrastructure-less and can achieve sub-meter accuracy in the short/medium period. However, when low-cost inertial measurement units (IMU) are employed for their implementation, they suffer…

Linear programming (LP) is an extremely useful tool and has been successfully applied to solve various problems in a wide range of areas, including operations research, engineering, economics, or even more abstract mathematical areas such…

This letter proposes a new approach for Inertial Measurement Unit (IMU) preintegration, a fundamental building block that can be leveraged in different optimization-based Inertial Navigation System (INS) localization solutions. Inspired by…

Aligning a robot's trajectory or map to the inertial frame is a critical capability that is often difficult to do accurately even though inertial measurement units (IMUs) can observe absolute roll and pitch with respect to gravity.…

Solving optimization problems is the key to decision making in many real-life analytics applications. However, the coefficients of the optimization problems are often uncertain and dependent on external factors, such as future demand or…

Equilibrium equations in the form of complementarity conditions often appear as constraints in optimization problems. Problems of this type are commonly referred to as mathematical programs with complementarity constraints (MPCCs). A…

Accurate extrinsic calibration between LiDAR and camera sensors is important for reliable perception in autonomous systems. In this paper, we present a novel multi-objective optimization framework that jointly minimizes the geometric…

The correct computation of orbits of discrete dynamical systems on the interval is considered. Therefore, an arbitrary-precision floating-point approach based on automatic error analysis is chosen and a general algorithm is presented. The…

Autonomous robotic systems heavily rely on environment knowledge to safely navigate. For search & rescue, a flying robot requires robust real-time perception, enabled by complementary sensors. IMU data constrains acceleration and rotation,…

The work of Wachter and Biegler suggests that infeasible-start interior point methods (IPMs) developed for linear programming cannot be adapted to nonlinear optimization without significant modification, i.e., using a two-phase or penalty…

Over the past decade, lidars have become a cornerstone of robotics state estimation and perception thanks to their ability to provide accurate geometric information about their surroundings in the form of 3D scans. Unfortunately, most of…

Accurate and reliable estimation of biases of low-cost Inertial Measurement Units (IMU) is a key factor to maintain the resilience of Visual-Inertial Odometry (VIO), particularly when visual tracking fails in challenging areas. In such…

The conventional clustering algorithms mine static databases and generate a set of patterns in the form of clusters. Many real life databases keep growing incrementally. For such dynamic databases, the patterns extracted from the original…

In this paper, we propose the inexact alternating minimization algorithm (inexact AMA), which allows inexact iterations in the algorithm, and its accelerated variant, called the inexact fast alternating minimization algorithm (inexact…

Linear programming (LP) is an extremely useful tool which has been successfully applied to solve various problems in a wide range of areas, including operations research, engineering, economics, or even more abstract mathematical areas such…

Generative models based on flow matching have attracted significant attention for their simplicity and superior performance in high-resolution image synthesis. By leveraging the instantaneous change-of-variables formula, one can directly…

Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively…

Classical control of cyber-physical systems used to rely on basic linear controllers. These controllers provided a safe and robust behavior but lack the ability to perform more complex controls such as aggressive maneuvering or performing…