105 citations · 228 across the 7 of their papers we have counts for
11 papers
Large-scale Autonomous Flight with Real-time Semantic SLAM under Dense Forest Canopy
Xu Liu, Guilherme V. Nardari, Fernando Cladera Ojeda +8
Semantic maps represent the environment using a set of semantically meaningful objects. This representation is storage-efficient, less ambiguous, and more informative, thus facilit…
Place Recognition in Forests with Urquhart Tessellations
Guilherme V. Nardari, Avraham Cohen, Steven W. Chen +4
In this letter, we present a novel descriptor based on Urquhart tessellations derived from the position of trees in a forest. We propose a framework that uses these descriptors to…
SLOAM: Semantic Lidar Odometry and Mapping for Forest Inventory
Steven W. Chen, Guilherme V. Nardari, Elijah S. Lee +4
This paper describes an end-to-end pipeline for tree diameter estimation based on semantic segmentation and lidar odometry and mapping. Accurate mapping of this type of environment…
Large Scale Model Predictive Control with Neural Networks and Primal Active Sets
Steven W. Chen, Tianyu Wang, Nikolay Atanasov +2
This work presents an explicit-implicit procedure to compute a model predictive control (MPC) law with guarantees on recursive feasibility and asymptotic stability. The approach co…
DFineNet: Ego-Motion Estimation and Depth Refinement from Sparse, Noisy Depth Input with RGB Guidance
Yilun Zhang, Ty Nguyen, Ian D. Miller +4
Depth estimation is an important capability for autonomous vehicles to understand and reconstruct 3D environments as well as avoid obstacles during the execution. Accurate depth se…
DFuseNet: Deep Fusion of RGB and Sparse Depth Information for Image Guided Dense Depth Completion
Shreyas S. Shivakumar, Ty Nguyen, Ian D. Miller +3
In this paper we propose a convolutional neural network that is designed to upsample a series of sparse range measurements based on the contextual cues gleaned from a high resoluti…
Decentralization of Multiagent Policies by Learning What to Communicate
James Paulos, Steven W. Chen, Daigo Shishika +1
Effective communication is required for teams of robots to solve sophisticated collaborative tasks. In practice it is typical for both the encoding and semantics of communication t…
Monocular Camera Based Fruit Counting and Mapping with Semantic Data Association
Xu Liu, Steven W. Chen, Chenhao Liu +5
We present a cheap, lightweight, and fast fruit counting pipeline that uses a single monocular camera. Our pipeline that relies only on a monocular camera, achieves counting perfor…
Robust Fruit Counting: Combining Deep Learning, Tracking, and Structure from Motion
Xu Liu, Steven W. Chen, Shreyas Aditya +6
We present a novel fruit counting pipeline that combines deep segmentation, frame to frame tracking, and 3D localization to accurately count visible fruits across a sequence of ima…
Unsupervised Deep Homography: A Fast and Robust Homography Estimation Model
Ty Nguyen, Steven W. Chen, Shreyas S. Shivakumar +2
Homography estimation between multiple aerial images can provide relative pose estimation for collaborative autonomous exploration and monitoring. The usage on a robotic system req…
Neural Network Memory Architectures for Autonomous Robot Navigation
Steven W Chen, Nikolay Atanasov, Arbaaz Khan +3
This paper highlights the significance of including memory structures in neural networks when the latter are used to learn perception-action loops for autonomous robot navigation.…