3 code implementations • 2 Sep 2021 • Jiunn-Kai Huang, William Clark, Jessy W. Grizzle
However, symmetric shapes lead to pose ambiguity when using sparse sensor data such as LiDAR point clouds and suffer from the quantization uncertainty of the LiDAR.
5 code implementations • 6 Dec 2020 • Jiunn-Kai Huang, Chenxi Feng, Madhav Achar, Maani Ghaffari, Jessy W. Grizzle
By modeling the calibration parameters as an element of a special matrix Lie Group, we achieve a unifying view of calibration for different types of LiDARs.
7 code implementations • 7 Oct 2019 • Jiunn-Kai Huang, Jessy W. Grizzle
The homogeneous transformation between a LiDAR and monocular camera is required for sensor fusion tasks, such as SLAM.
4 code implementations • 23 Aug 2019 • Jiunn-Kai Huang, Shoutian Wang, Maani Ghaffari, Jessy W. Grizzle
Because of the LiDAR sensors' nature, rapidly changing ambient lighting will not affect the detection of a LiDARTag; hence, the proposed fiducial marker can operate in a completely dark environment.
1 code implementation • 19 Sep 2018 • Yukai Gong, Ross Hartley, Xingye Da, Ayonga Hereid, Omar Harib, Jiunn-Kai Huang, Jessy Grizzle
The Cassie bipedal robot designed by Agility Robotics is providing academics a common platform for sharing and comparing algorithms for locomotion, perception, and navigation.
Robotics Optimization and Control
no code implementations • 20 Mar 2018 • Ross Hartley, Maani Ghaffari Jadidi, Lu Gan, Jiunn-Kai Huang, Jessy W. Grizzle, Ryan M. Eustice
The factor graph framework is a convenient modeling technique for robotic state estimation where states are represented as nodes, and measurements are modeled as factors.
Robotics