29 citations · 39 across the 6 of their papers we have counts for
9 papers
EllipseLIO: Adaptive LiDAR Inertial Odometry with an Ellipsoid Representation
Rowan Border, Margarita Chli
LiDAR Inertial Odometry (LIO) is a critical component for many mobile robots that need to navigate without relying on external positioning (e.g., GPS). Platforms that operate auton…
LiDAR Loop Closure Detection using Semantic Graphs with Graph Attention Networks
Liudi Yang, Ruben Mascaro, Ignacio Alzugaray +4
In this paper, we propose a novel loop closure detection algorithm that uses graph attention neural networks to encode semantic graphs to perform place recognition and then use sem…
Hyperion -- A fast, versatile symbolic Gaussian Belief Propagation framework for Continuous-Time SLAM
David Hug, Ignacio Alzugaray, Margarita Chli
Continuous-Time Simultaneous Localization And Mapping (CTSLAM) has become a promising approach for fusing asynchronous and multi-modal sensor suites. Unlike discrete-time SLAM, whi…
Towards Multi-robot Exploration: A Decentralized Strategy for UAV Forest Exploration
Luca Bartolomei, Lucas Teixeira, Margarita Chli
Efficient exploration strategies are vital in tasks such as search-and-rescue missions and disaster surveying. Unmanned Aerial Vehicles (UAVs) have become particularly popular in s…
COVINS-G: A Generic Back-end for Collaborative Visual-Inertial SLAM
Manthan Patel, Marco Karrer, Philipp Bänninger +1
Collaborative SLAM is at the core of perception in multi-robot systems as it enables the co-localization of the team of robots in a common reference frame, which is of vital import…
COVINS: Visual-Inertial SLAM for Centralized Collaboration
Patrik Schmuck, Thomas Ziegler, Marco Karrer +2
Collaborative SLAM enables a group of agents to simultaneously co-localize and jointly map an environment, thus paving the way to wide-ranging applications of multi-robot perceptio…