Search Results - "Wu, Kanzhi"

Kernel-GPA: A globally optimal solution to deformable SLAM in closed-form by Bai, Fang, Wu, Kanzhi, Bartoli, Adrien

“…We study the generalized Procrustes analysis (GPA), as a minimal formulation to the simultaneous localization and mapping (SLAM) problem. We propose…”
Get full text

Convergence and Consistency Analysis for a 3-D Invariant-EKF SLAM by Teng Zhang, Kanzhi Wu, Jingwei Song, Shoudong Huang, Dissanayake, Gamini

“…In this letter, we investigate the convergence and consistency properties of an invariant-extended Kalman filter (RI-EKF) based simultaneous localization and…”
Get full text

An invariant-EKF VINS algorithm for improving consistency by Kanzhi Wu, Teng Zhang, Daobilige Su, Shoudong Huang, Dissanayake, Gamini

“…The main contribution of this paper is an invariant extended Kalman filter (EKF) for visual inertial navigation systems (VINS). It is demonstrated that the…”
Get full text

Active recognition and pose estimation of household objects in clutter by Kanzhi Wu, Ranasinghe, Ravindra, Dissanayake, Gamini

“…This paper presents an active object recognition and pose estimation system for household objects in a highly cluttered environment. A sparse feature model,…”
Get full text

RISAS: A novel rotation, illumination, scale invariant appearance and shape feature by Kanzhi Wu, Xiaoyang Li, Ranasinghe, Ravindra, Dissanayake, Gamini, Yong Liu

“…This paper presents a novel appearance and shape feature, RISAS, which is robust to viewpoint, illumination, scale and rotation variations. RISAS consists of a…”
Get full text

TG: Accurate and Efficient RGB-D Feature With Texture and Geometric Information by Zhao, Xiangrui, Liu, Yu, Wang, Zhengbo, Wu, Kanzhi, Dissanayake, Gamini, Liu, Yong

“…Feature extraction and matching are the basis of many computer vision problems, such as image retrieval, object recognition, and visual odometry. In this…”
Get full text

A fast pipeline for textured object recognition in clutter using an RGB-D sensor by Kanzhi Wu, Ranasinghe, Ravindra, Dissanayake, Gamini

“…This paper presents a modular algorithm pipeline for recognizing textured household objects in cluttered environment and estimating 6 DOF poses using an RGB-D…”
Get full text

Tree-Structured MRF Based Image Segmentation Combined with Advanced Means Shift Mode Detection by Sun Liye, Wu Kanzhi

“…Image segmentation is a critical issue in image understanding and several achievements have been achieved in this area. In this paper, we propose an improved…”
Get full text

Action for Perception: Active Object Recognition and Pose Estimation in Cluttered Environments by Wu, Kanzhi

“…Object recognition and localisation are indispensable competency for service robots in everyday environments like offices and kitchens. Presence of similar…”
Get full text

Planar scan matching using incident angle by Jixin Lv, Yue Wang, Wu, Kanzhi, Dissanayake, Gamini, Kobayashi, Yukinori, Rong Xiong

“…The main contribution of this paper is a planar scan matching algorithm that makes use of the incident angle of a scan point as a feature to enhance the…”
Get full text

KernelGPA: A Globally Optimal Solution to Deformable SLAM in Closed-form by Bai, Fang, Wu, Kanzhi, Bartoli, Adrien

“…International Journal of Robotics Research, 2023 We study the generalized Procrustes analysis (GPA), as a minimal formulation to the simultaneous localization…”
Get full text

Gyro-aided camera-odometer online calibration and localization by Li, Dongxuan, Eckenhoff, Kevin, Wu, Kanzhi, Wang, Yue, Xiong, Rong, Huang, Guoquan

“…In this paper, we introduce a novel factor-graph based multi-sensor fusion algorithm that optimally estimates camera-odometer extrinsic calibration (6 DOF…”
Get full text

An Invariant-EKF VINS Algorithm for Improving Consistency by Zhang, Teng, Wu, Kanzhi, Su, Daobilige, Huang, Shoudong, Dissanayake, Gamini

“…The main contribution of this paper is an invariant extended Kalman filter (EKF) for visual inertial navigation systems (VINS). It is demonstrated that the…”
Get full text

Convergence and Consistency Analysis for A 3D Invariant-EKF SLAM by Zhang, Teng, Wu, Kanzhi, Song, Jingwei, Huang, Shoudong, Dissanayake, Gamini

“…IEEE Robotics and Automation Letters (Volume: 2, Issue: 2, April 2017) In this paper, we investigate the convergence and consistency properties of an…”
Get full text

RISAS: A Novel Rotation, Illumination, Scale Invariant Appearance and Shape Feature by Wu, Kanzhi, Li, Xiaoyang, Ranasinghe, Ravindra, Dissanayake, Gamini, Liu, Yong

“…This paper presents a novel appearance and shape feature, RISAS, which is robust to viewpoint, illumination, scale and rotation variations. RISAS consists of a…”
Get full text