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Multi-Task Learning for Scalable and Dense Multi-Layer Bayesian Map Inference


Jun 28, 2021
Lu Gan, Youngji Kim, Jessy W. Grizzle, Jeffrey M. Walls, Ayoung Kim, Ryan M. Eustice, Maani Ghaffari


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Monocular Depth Prediction Through Continuous 3D Loss


Mar 21, 2020
Minghan Zhu, Maani Ghaffari, Yuanxin Zhong, Pingping Lu, Zhong Cao, Ryan M. Eustice, Huei Peng

* 8 pages, 5 figures 

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DeepLocNet: Deep Observation Classification and Ranging Bias Regression for Radio Positioning Systems


Feb 02, 2020
Sahib Singh Dhanjal, Maani Ghaffari, Ryan M. Eustice

* 8 pages, IROS 2019 

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A Keyframe-based Continuous Visual SLAM for RGB-D Cameras via Nonparametric Joint Geometric and Appearance Representation


Dec 02, 2019
Xi Lin, Dingyi Sun, Tzu-Yuan Lin, Ryan M. Eustice, Maani Ghaffari

* 10 pages 

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Adaptive Continuous Visual Odometry from RGB-D Images


Oct 01, 2019
Tzu-Yuan Lin, William Clark, Ryan M. Eustice, Jessy W. Grizzle, Anthony Bloch, Maani Ghaffari

* 7 pages 

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Bayesian Spatial Kernel Smoothing for ScalableDense Semantic Mapping


Sep 10, 2019
Lu Gan, Ray Zhang, Jessy W. Grizzle, Ryan M. Eustice, Maani Ghaffari


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LiDARTag: A Real-Time Fiducial Tag using Point Clouds


Aug 23, 2019
Jiunn-Kai Huang, Maani Ghaffari, Ross Hartley, Lu Gan, Ryan M. Eustice, Jessy W. Grizzle


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Characterizing the Uncertainty of Jointly Distributed Poses in the Lie Algebra


Jun 18, 2019
Joshua G. Mangelson, Maani Ghaffari, Ram Vasudevan, Ryan M. Eustice


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Continuous Direct Sparse Visual Odometry from RGB-D Images


May 21, 2019
Maani Ghaffari, William Clark, Anthony Bloch, Ryan M. Eustice, Jessy W. Grizzle

* 9 pages 

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Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation


Apr 19, 2019
Ross Hartley, Maani Ghaffari, Ryan M. Eustice, Jessy W. Grizzle


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Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation Using Factor Graphs


Oct 02, 2018
Ross Hartley, Maani Ghaffari Jadidi, Lu Gan, Jiunn-Kai Huang, Jessy W. Grizzle, Ryan M. Eustice

* Detailed derivations are provided in the supplementary material document listed under "Ancillary files" 

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Guaranteed Globally Optimal Planar Pose Graph and Landmark SLAM via Sparse-Bounded Sums-of-Squares Programming


Sep 20, 2018
Joshua G. Mangelson, Jinsun Liu, Ryan M. Eustice, Ram Vasudevan

* 7 pages, 5 figures 

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Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation


May 26, 2018
Ross Hartley, Maani Ghaffari Jadidi, Jessy W. Grizzle, Ryan M. Eustice

* Published in the proceedings of Robotics: Science and Systems 2018 

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Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors


Feb 25, 2018
Ross Hartley, Josh Mangelson, Lu Gan, Maani Ghaffari Jadidi, Jeffrey M. Walls, Ryan M. Eustice, Jessy W. Grizzle

* Detailed derivations are provided in the supplementary material document listed under "Ancillary files" 

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WaterGAN: Unsupervised Generative Network to Enable Real-time Color Correction of Monocular Underwater Images


Oct 26, 2017
Jie Li, Katherine A. Skinner, Ryan M. Eustice, Matthew Johnson-Roberson

* IEEE Robotics and Automation Letters IEEE Robotics and Automation Letters IEEE Robotics and Automation Letters 387 - 394 (2018) 
* 8 pages, 16 figures, published by RA-letter 2018. Source code available at: https://github.com/kskin/WaterGAN 

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Sparse Bayesian Inference for Dense Semantic Mapping


Sep 22, 2017
Lu Gan, Maani Ghaffari Jadidi, Steven A. Parkison, Ryan M. Eustice

* Submitted to ICRA 2018, 8 pages 

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Gaussian Processes Semantic Map Representation


Jul 05, 2017
Maani Ghaffari Jadidi, Lu Gan, Steven A. Parkison, Jie Li, Ryan M. Eustice

* Accepted for RSS 2017 Workshop on Spatial-Semantic Representations in Robotics 

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