Ethan Eade
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Documents
- Lie groups for Computer Vision (reference): [PDF] (updated 2014-12-25)
- Lie groups for 2D and 3D Transformations (more detail and derivations): [PDF](minor update 2018-10-07)
- Derivative of the Exponential Map (with some closed-form results): [PDF](updated on 2018-11-12)
- Hermite Splines in Lie Groups as Products of Geodesics: [PDF](updated 2017-01-07)
- Gauss-Newton Optimization: [PDF]
- Rotation between two 3-vectors: [PDF]
- Process Noise for Gaussian Random Walks: [PDF]
Very basic SO(3) exp/log calculator
External documents
- This technical report by Solà, Deray, and Atchuthan is a great self-contained exposition of Lie theory for robotics applications.
- Tom Drummond's notes offer an extended treatment of many of the above topics with excellent motivating diagrams.
Various Code
- Lie Groups (Standalone C++ Lie groups implementations)
- ECV (C++ computer vision prototyping)
- LATL (Linear Algebra Template Library)
- MathBits (a few bits and bobs)
- GLWindow (Basic cross-platform OpenGL windows)
- Utils (KD-trees, Hamming distance, heaps, etc.)
Education and Employment
- Since September 2020, I've been a partner at Main Street Autonomy (Pittsburgh, PA).
- From December 2016 to September 2020, I was employed at Aurora Innovation (Pittsburgh, PA), working on autonomous vehicles.
- From September 2015 to December 2016 I was employed at Uber Advanced Technologies Center (Pittsburgh, PA), working on autonomous vehicles.
- From July 2011 to September 2015 I was employed at Microsoft (Redmond, Washington), working on SLAM and sensor fusion for HoloLens.
- From October 2008 to June 2011 I was employed at Evolution Robotics (Pasadena, California), working on visual SLAM for consumer robots.
- I did my PhD at Cambridge University (Cambridge, England) from 2004 to 2008, on simultaneous localisation and mapping (SLAM) with a single video camera in real time, under the supervision of Dr. Tom Drummond.
- I received undergraduate degrees in Computer Science and Mathematics from Duke University in 2004.
Research (old stuff)
PhD Thesis
Peer Reviewed Publications
- Ethan Eade, Philip Fong, and Mario E. Munich
Monocular Graph SLAM with Complexity Reduction
In Proc. IROS 2010, October 2010,
Taipei, Taiwan. [BibTeX]
- Ethan Eade and Tom Drummond
Unified Loop Closing and Recovery for Real Time Monocular SLAM
In Proc. BMVC'08, September 2008,
Leeds, UK. [BibTeX]
Watch the indoor and outdoor videos.
- Ethan Eade and Tom Drummond
Monocular SLAM as a Graph of Coalesced Observations
In Proc. ICCV'07, October 2007,
Rio de Janeiro, Brazil. [BibTeX]
Watch the video.
- Ethan Eade and Tom Drummond
Edge Landmarks in Monocular SLAM
In Proc. BMVC'06, September 2006,
Edinburgh, Scotland, UK. [BibTeX]
See the slides from my talk.
Watch it work on a desktop sequence.
The journal version is in Image and Vision Computing online [BibTeX].
- Ethan Eade and Tom Drummond
Scalable Monocular SLAM
In Proc. CVPR'06, June 2006,
New York, New York, USA.
[BibTeX]
See the slides from my talk.
Watch it work on an indoor sequence.
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