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ethz-asl / aslam_splines

B-spline implementations usable as design variables and expression sources for aslam_optimizer
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aslam_splines

Build Status

B-spline implementations usable as design variables and expression sources for aslam_optimizer (https://github.com/ethz-asl/aslam_optimizer)

License

3-Clause BSD; see LICENSE

References

The algorithms are based on the following papers. Please cite the appropriate papers when using parts of it in an academic publication.

  1. Paul Furgale, Joern Rehder, Roland Siegwart (2013). Unified Temporal and Spatial Calibration for Multi-Sensor Systems. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan.
  2. Paul Furgale, T D Barfoot, G Sibley (2012). Continuous-Time Batch Estimation Using Temporal Basis Functions. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 2088–2095, St. Paul, MN.
  3. Hannes Sommer, James R. Forbes, Roland Siegwart, and Paul Furgale. Continuous-Time Estimation of Attitude Using B-Splines on Lie Groups. Journal of Guidance, Control, and Dynamics, 39(2):242–261, February 2016.

Acknowledgments

This work is supported in part by the European Union's Seventh Framework Programme (FP7/2007-2013) under grants #269916 (V-Charge), and #610603 (EUROPA2).