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Certifiably Globally Optimal Extrinsic Calibration from Per-Sensor Egomotion


Jan 27, 2019
Matthew Giamou, Ziye Ma, Valentin Peretroukhin, Jonathan Kelly

* 8 pages, 8 figures, in IEEE Robotics and Automation Letters (RA-L) 

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DPC-Net: Deep Pose Correction for Visual Localization


Sep 10, 2018
Valentin Peretroukhin, Jonathan Kelly

* In IEEE Robotics and Automation Letters (RA-L) and presented at the IEEE International Conference on Robotics and Automation (ICRA'18), Brisbane, Australia, May 21-25, 2018 

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Improving Foot-Mounted Inertial Navigation Through Real-Time Motion Classification


Jul 13, 2018
Brandon Wagstaff, Valentin Peretroukhin, Jonathan Kelly

* In Proceedings of the International Conference on Indoor Positioning and Indoor Navigation (IPIN'17), Sapporo, Japan, Sep. 18-21, 2017 

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PROBE-GK: Predictive Robust Estimation using Generalized Kernels


Aug 02, 2017
Valentin Peretroukhin, William Vega-Brown, Nicholas Roy, Jonathan Kelly

* In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'16), Stockholm, Sweden, May 16-21, 2016 

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PROBE: Predictive Robust Estimation for Visual-Inertial Navigation


Aug 02, 2017
Valentin Peretroukhin, Lee Clement, Matthew Giamou, Jonathan Kelly

* In Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'15), Hamburg, Germany, Sep. 28-Oct. 2, 2015 

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Reducing Drift in Visual Odometry by Inferring Sun Direction Using a Bayesian Convolutional Neural Network


Jul 28, 2017
Valentin Peretroukhin, Lee Clement, Jonathan Kelly

* In Proceedings of the International Conference on Robotics and Automation (ICRA'17), Singapore, May 29-Jun. 3, 2017 

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Improving the Accuracy of Stereo Visual Odometry Using Visual Illumination Estimation


Jul 27, 2017
Lee Clement, Valentin Peretroukhin, Jonathan Kelly

* In Proceedings of the International Symposium on Experimental Robotics (ISER'16), Tokyo, Japan, Oct. 3-6, 2016 

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