101 citations · 189 across the 27 of their papers we have counts for
5 papers · 1 filter
LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping
Tixiao Shan, Brendan Englot, Carlo Ratti +1
We propose a framework for tightly-coupled lidar-visual-inertial odometry via smoothing and mapping, LVI-SAM, that achieves real-time state estimation and map-building with high ac…
Zero-Shot Reinforcement Learning on Graphs for Autonomous Exploration Under Uncertainty
Fanfei Chen, Paul Szenher, Yewei Huang +4
This paper studies the problem of autonomous exploration under localization uncertainty for a mobile robot with 3D range sensing. We present a framework for self-learning a high-pe…
Robust Place Recognition using an Imaging Lidar
Tixiao Shan, Brendan Englot, Fabio Duarte +2
We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity reading…
Predictive 3D Sonar Mapping of Underwater Environments via Object-specific Bayesian Inference
John McConnell, Brendan Englot
Recent work has achieved dense 3D reconstruction with wide-aperture imaging sonar using a stereo pair of orthogonally oriented sonars. This allows each sonar to observe a spatial d…
Fast Design Space Exploration of Nonlinear Systems: Part I
Sanjai Narain, Emily Mak, Dana Chee +4
System design tools are often only available as input-output blackboxes: for a given design as input they compute an output representing system behavior. Blackboxes are intended to…