Computational Perception & Robotics Technical Reports
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Recent Submissions
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Supplementary Material to: IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation
(Georgia Institute of Technology, 2015-05-30) -
Analytic Inverse Kinematics for the Universal Robots UR-5/UR-10 Arms
(Georgia Institute of Technology, 2013-12-07) -
Factor Graphs and GTSAM: A Hands-on Introduction
(Georgia Institute of Technology, 2012-09)In this document I provide a hands-on introduction to both factor graphs and GTSAM. Factor graphs are graphical models (Koller and Friedman, 2009) that are well suited to modeling complex estimation problems, such as ... -
Rapid Loop Updates
(Georgia Institute of Technology, 2012-09-11)