74 citations · 227 across the 87 of their papers we have counts for
14 papers · 1 filter
Modeling Uncertainty in 3D Gaussian Splatting through Continuous Semantic Splatting
Joey Wilson, Marcelino Almeida, Min Sun +6
In this paper, we present a novel algorithm for probabilistically updating and rasterizing semantic maps within 3D Gaussian Splatting (3D-GS). Although previous methods have introd…
A Generalized Metriplectic System via Free Energy and System~Identification via Bilevel Convex Optimization
Sangli Teng, Kaito Iwasaki, William Clark +4
This work generalizes the classical metriplectic formalism to model Hamiltonian systems with nonconservative dissipation. Classical metriplectic representations allow for the descr…
Tensegrity Robot Proprioceptive State Estimation with Geometric Constraints
Wenzhe Tong, Tzu-Yuan Lin, Jonathan Mi +3
Tensegrity robots, characterized by a synergistic assembly of rigid rods and elastic cables, form robust structures that are resistant to impacts. However, this design introduces c…
LatentBKI: Open-Dictionary Continuous Mapping in Visual-Language Latent Spaces with Quantifiable Uncertainty
Joey Wilson, Ruihan Xu, Yile Sun +4
This paper introduces a novel probabilistic mapping algorithm, LatentBKI, which enables open-vocabulary mapping with quantifiable uncertainty. Traditionally, semantic mapping algor…
MDMP: Multi-modal Diffusion for supervised Motion Predictions with uncertainty
Leo Bringer, Joey Wilson, Kira Barton +1
This paper introduces a Multi-modal Diffusion model for Motion Prediction (MDMP) that integrates and synchronizes skeletal data and textual descriptions of actions to generate refi…
DynaWeightPnP: Toward global real-time 3D-2D solver in PnP without correspondences
Jingwei Song, Maani Ghaffari
This paper addresses a special Perspective-n-Point (PnP) problem: estimating the optimal pose to align 3D and 2D shapes in real-time without correspondences, termed as corresponden…
SLAM assisted 3D tracking system for laparoscopic surgery
Jingwei Song, Ray Zhang, Wenwei Zhang +2
A major limitation of minimally invasive surgery is the difficulty in accurately locating the internal anatomical structures of the target organ due to the lack of tactile feedback…
Correspondence-Free SE(3) Point Cloud Registration in RKHS via Unsupervised Equivariant Learning
Ray Zhang, Zheming Zhou, Min Sun +5
This paper introduces a robust unsupervised SE(3) point cloud registration method that operates without requiring point correspondences. The method frames point clouds as functions…
SE3ET: SE(3)-Equivariant Transformer for Low-Overlap Point Cloud Registration
Chien Erh Lin, Minghan Zhu, Maani Ghaffari
Partial point cloud registration is a challenging problem in robotics, especially when the robot undergoes a large transformation, causing a significant initial pose error and a lo…
Social Zone as a Barrier Function for Socially-Compliant Robot Navigation
Junwoo Jang, Maani Ghaffari
This study addresses the challenge of integrating social norms into robot navigation, which is essential for ensuring that robots operate safely and efficiently in human-centric en…
VascularPilot3D: Toward a 3D fully autonomous navigation for endovascular robotics
Jingwei Song, Keke Yang, Han Chen +8
This research reports VascularPilot3D, the first 3D fully autonomous endovascular robot navigation system. As an exploration toward autonomous guidewire navigation, VascularPilot3D…
Legged Robot State Estimation within Non-inertial Environments
Zijian He, Sangli Teng, Tzu-Yuan Lin +2
This paper investigates the robot state estimation problem within a non-inertial environment. The proposed state estimation approach relaxes the common assumption of static ground…
GMKF: Generalized Moment Kalman Filter for Polynomial Systems with Arbitrary Noise
Sangli Teng, Harry Zhang, David Jin +3
This paper develops a new filtering approach for state estimation in polynomial systems corrupted by arbitrary noise, which commonly arise in robotics. We first consider a batch se…
RKHS-BA: A Robust Correspondence-Free Multi-View Registration Framework with Semantic Point Clouds
Ray Zhang, Jingwei Song, Xiang Gao +5
This work reports a novel multi-frame Bundle Adjustment (BA) framework called RKHS-BA. It uses continuous landmark representations that encode RGB-D/LiDAR and semantic observations…