Matthew Giamou

A Question of Time: Revisiting the Use of Recursive Filtering for Temporal Calibration of Multisensor Systems

2021

We examine the problem of time delay estimation, or temporal calibration, in the context of multisensor data fusion. Differences in processing intervals and other factors typically lead to a relative delay between measurement updates from …

Euclidean Equivariant Models for Generative Graphical Inverse Kinematics

2023 · arXiv (Cornell University)

Quickly and reliably finding accurate inverse kinematics (IK) solutions remains a challenging problem for robotic manipulation. Existing numerical solvers typically produce a single solution only and rely on local search techniques to minimize a highly …