41 citations · 41 across the 16 of their papers we have counts for
6 papers · 1 filter
Gaussian Process Distance Fields Obstacle and Ground Constraints for Safe Navigation
Monisha Mushtary Uttsha, Cedric Le Gentil, Lan Wu +1
Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which fa…
Real-Time Truly-Coupled Lidar-Inertial Motion Correction and Spatiotemporal Dynamic Object Detection
Cedric Le Gentil, Raphael Falque, Teresa Vidal-Calleja
Over the past decade, lidars have become a cornerstone of robotics state estimation and perception thanks to their ability to provide accurate geometric information about their sur…
Mixing Data-driven and Geometric Models for Satellite Docking Port State Estimation using an RGB or Event Camera
Cedric Le Gentil, Jack Naylor, Nuwan Munasinghe +5
In-orbit automated servicing is a promising path towards lowering the cost of satellite operations and reducing the amount of orbital debris. For this purpose, we present a pipelin…
Towards Robust Perception for Assistive Robotics: An RGB-Event-LiDAR Dataset and Multi-Modal Detection Pipeline
Adam Scicluna, Cedric Le Gentil, Sheila Sutjipto +1
The increasing adoption of human-robot interaction presents opportunities for technology to positively impact lives, particularly those with visual impairments, through application…
Safe Bubble Cover for Motion Planning on Distance Fields
Ki Myung Brian Lee, Zhirui Dai, Cedric Le Gentil +3
We consider the problem of planning collision-free trajectories on distance fields. Our key observation is that querying a distance field at one configuration reveals a region of s…
VDB-GPDF: Online Gaussian Process Distance Field with VDB Structure
Lan Wu, Cedric Le Gentil, Teresa Vidal-Calleja
Robots reason about the environment through dedicated representations. Popular choices for dense representations exploit Truncated Signed Distance Functions (TSDF) and Octree data…