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Factor graphs for robot perception
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 …
problems in robotics. Factor graphs are a family of probabilistic graphical models, other …
A survey of uncertainty in deep neural networks
Over the last decade, neural networks have reached almost every field of science and
become a crucial part of various real world applications. Due to the increasing spread …
become a crucial part of various real world applications. Due to the increasing spread …
[HTML][HTML] Factor graph based navigation and positioning for control system design: A review
WU ** using the Bayes tree
We present a novel data structure, the Bayes tree, that provides an algorithmic foundation
enabling a better understanding of existing graphical model inference algorithms and their …
enabling a better understanding of existing graphical model inference algorithms and their …
Continuous-time Gaussian process motion planning via probabilistic inference
We introduce a novel formulation of motion planning, for continuous-time trajectories, as
probabilistic inference. We first show how smooth continuous-time trajectories can be …
probabilistic inference. We first show how smooth continuous-time trajectories can be …
Information fusion in navigation systems via factor graph based incremental smoothing
This paper presents a new approach for high-rate information fusion in modern inertial
navigation systems, that have a variety of sensors operating at different frequencies. Optimal …
navigation systems, that have a variety of sensors operating at different frequencies. Optimal …
Real-time visual SLAM for autonomous underwater hull inspection using visual saliency
This paper reports a real-time monocular visual simultaneous localization and map**
(SLAM) algorithm and results for its application in the area of autonomous underwater ship …
(SLAM) algorithm and results for its application in the area of autonomous underwater ship …
iSAM2: Incremental smoothing and map** with fluid relinearization and incremental variable reordering
We present iSAM2, a fully incremental, graph-based version of incremental smoothing and
map** (iSAM). iSAM2 is based on a novel graphical model-based interpretation of …
map** (iSAM). iSAM2 is based on a novel graphical model-based interpretation of …
DDF-SAM 2.0: Consistent distributed smoothing and map**
This paper presents an consistent decentralized data fusion approach for robust multi-robot
SLAM in dangerous, unknown environments. The DDF-SAM 2.0 approach extends our …
SLAM in dangerous, unknown environments. The DDF-SAM 2.0 approach extends our …
Real-time trajectory planning for autonomous driving with gaussian process and incremental refinement
Real-time kinodynamic trajectory planning in dy-namic environments is critical yet
challenging for autonomous driving. In this paper, we propose an efficient trajectory plan …
challenging for autonomous driving. In this paper, we propose an efficient trajectory plan …