38 citations · 40 across the 4 of their papers we have counts for
4 papers
Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems
Nathan Hughes, Yun Chang, Siyi Hu +4
3D spatial perception is the problem of building and maintaining an actionable and persistent representation of the environment in real-time using sensor data and prior knowledge.…
Hydra-Multi: Collaborative Online Construction of 3D Scene Graphs with Multi-Robot Teams
Yun Chang, Nathan Hughes, Aaron Ray +1
3D scene graphs have recently emerged as an expressive high-level map representation that describes a 3D environment as a layered graph where nodes represent spatial concepts at mu…
Resilient and Distributed Multi-Robot Visual SLAM: Datasets, Experiments, and Lessons Learned
Yulun Tian, Yun Chang, Long Quang +4
This paper revisits Kimera-Multi, a distributed multi-robot Simultaneous Localization and Mapping (SLAM) system, towards the goal of deployment in the real world. In particular, th…
Present and Future of SLAM in Extreme Underground Environments
Kamak Ebadi, Lukas Bernreiter, Harel Biggie +28
This paper reports on the state of the art in underground SLAM by discussing different SLAM strategies and results across six teams that participated in the three-year-long SubT co…