We review the use of factor graphs for the modeling and solving of large-scale inference
problems in robotics. Factor graphs are a family of probabilistic graphical models, other …

Combining multiple LiDARs enables a robot to maximize its perceptual awareness of
environments and obtain sufficient measurements, which is promising for simultaneous …

We present a generic algorithm for self calibration of robotic systems that utilizes two key
innovations. First, it uses information theoretic measures to automatically identify and store …

Consider a differential-drive mobile robot equipped with an on-board exteroceptive sensor
that can estimate its own motion, eg, a range-finder. Calibration of this robot involves …

We present a new, generic approach to the calibration of depth sensor intrinsics that
requires only the ability to run SLAM. In particular, no specialized hardware, calibration …

This paper describes a novel method for determining the extrinsic calibration parameters
between 2D and 3D LIDAR sensors with respect to a vehicle base frame. To recover the …

Nowadays, Nonlinear Least-Squares embodies the foundation of many Robotics and
Computer Vision systems. The research community deeply investigated this topic in the last …

Simultaneous Localization and Map** (SLAM) has been a long-standing research
problem in robotics. It describes the problem of a robot map** an unknown environment …

We present a generic algorithm for self-calibration of robotic systems that utilizes two key
innovations. First, it uses an information-theoretic measure to automatically identify and store …

The ability to maintain and continuously update geometric calibration parameters of a
mobile platform is a key functionality for every robotic system. These parameters include the …