Search Results for author: Kaveh Fathian

Found 7 papers, 4 papers with code

CLIPPER+: A Fast Maximal Clique Algorithm for Robust Global Registration

1 code implementation23 Feb 2024 Kaveh Fathian, Tyler Summers

The registration problem can be formulated as a graph and solved by finding its maximum clique.

Point Cloud Registration

MIXER: Multiattribute, Multiway Fusion of Uncertain Pairwise Affinities

no code implementations15 Oct 2022 Parker C. Lusk, Kaveh Fathian, Jonathan P. How

We present a multiway fusion algorithm capable of directly processing uncertain pairwise affinities.

Binarization

View-Invariant Localization using Semantic Objects in Changing Environments

no code implementations28 Sep 2022 Jacqueline Ankenbauer, Kaveh Fathian, Jonathan P. How

To demonstrate our framework, we consider an example of localizing a ground vehicle in a reference object map using only cars as objects.

Position

A Distributed Pipeline for Scalable, Deconflicted Formation Flying

1 code implementation4 Mar 2020 Parker C. Lusk, Xiaoyi Cai, Samir Wadhwania, Aleix Paris, Kaveh Fathian, Jonathan P. How

While solutions using onboard localization address the dependency on external infrastructure, the associated coordination strategies typically lack collision avoidance and scalability.

Robotics Multiagent Systems

CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multi-View Data Association

1 code implementation6 Feb 2019 Kaveh Fathian, Kasra Khosoussi, Yulun Tian, Parker Lusk, Jonathan P. How

Many robotics applications require alignment and fusion of observations obtained at multiple views to form a global model of the environment.

Clustering Graph Clustering +1

Quaternion Based Camera Pose Estimation From Matched Feature Points

no code implementations9 Apr 2017 Kaveh Fathian, J. Pablo Ramirez-Paredes, Emily A. Doucette, J. Willard Curtis, Nicholas R. Gans

We present a novel solution to the camera pose estimation problem, where rotation and translation of a camera between two views are estimated from matched feature points in the images.

Pose Estimation Translation

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