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.
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.
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.
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
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.