33 citations · 39 across the 6 of their papers we have counts for
7 papers
Wildcat: Online Continuous-Time 3D Lidar-Inertial SLAM
Milad Ramezani, Kasra Khosoussi, Gavin Catt +5
We present Wildcat, a novel online 3D lidar-inertial SLAM system with exceptional versatility and robustness. At its core, Wildcat combines a robust real-time lidar-inertial odomet…
AEROS: Adaptive RObust least-Squares for Graph-Based SLAM
Milad Ramezani, Matias Mattamala, Maurice Fallon
In robot localisation and mapping, outliers are unavoidable when loop-closure measurements are taken into account. A single false-positive loop-closure can have a very negative imp…
Online Estimation of Diameter at Breast Height (DBH) of Forest Trees Using a Handheld LiDAR
Alexander Proudman, Milad Ramezani, Maurice Fallon
While mobile LiDAR sensors are increasingly used to scan in ecology and forestry applications, reconstruction and characterisation are typically carried out offline (to the best of…
Scalable and Elastic LiDAR Reconstruction in Complex Environments Through Spatial Analysis
Yiduo Wang, Milad Ramezani, Matias Mattamala +1
This paper presents novel strategies for spawning and fusing submaps within an elastic dense 3D reconstruction system. The proposed system uses spatial understanding of the scanned…
Fast and Reliable WiFi Fingerprint Collection for Indoor Localization
Fuqiang Gu, Milad Ramezani, Kourosh Khoshelham +3
Fingerprinting is a popular indoor localization technique since it can utilize existing infrastructures (e.g., access points). However, its site survey process is a labor-intensive…
Actively Mapping Industrial Structures with Information Gain-Based Planning on a Quadruped Robot
Yiduo Wang, Milad Ramezani, Maurice Fallon
In this paper, we develop an online active mapping system to enable a quadruped robot to autonomously survey large physical structures. We describe the perception, planning and con…