Search Results for author:
Found 7 papers, 5 papers with code
The LuViRA Dataset: Synchronized Vision, Radio, and Audio Sensors for Indoor Localization
The dataset includes color images, corresponding depth maps, inertial measurement unit (IMU) readings, channel response between a 5G massive multiple-input and multiple-output (MIMO) testbed and user equipment, audio recorded by 12 microphones, and accurate six degrees of freedom (6DOF) pose ground truth of 0. 5 mm.
Quadrotor Control on $SU(2)\times R^3$ with SLAM Integration
We present a trajectory tracking controller for a quadrotor unmanned aerial vehicle (UAV) configured on $SU(2)\times R^3$, and relate this result to a family of geometric tracking controllers on $SO(3)\times R^3$.
Generic Merging of Structure from Motion Maps with a Low Memory Footprint
We use these representations to perform map merging so that the algorithm is invariant to the merging order and independent of the choice of coordinate system.
Trust Your IMU: Consequences of Ignoring the IMU Drift
In this paper, we argue that modern pre-integration methods for inertial measurement units (IMUs) are accurate enough to ignore the drift for short time intervals.
Monocular Depth Parameterizing Networks
For this purpose we propose a network structure that given an image provides a parameterization of a set of depth maps with feasible shapes.
Efficient Real-Time Radial Distortion Correction for UAVs
In this paper we present a novel algorithm for onboard radial distortion correction for unmanned aerial vehicles (UAVs) equipped with an inertial measurement unit (IMU), that runs in real-time.
Minimal Solvers for Indoor UAV Positioning
In this paper we consider a collection of relative pose problems which arise naturally in applications for visual indoor UAV navigation.
