233 citations · 423 across the 25 of their papers we have counts for
5 papers · 1 filter
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…
LoGG3D-Net: Locally Guided Global Descriptor Learning for 3D Place Recognition
Kavisha Vidanapathirana, Milad Ramezani, Peyman Moghadam +2
Retrieval-based place recognition is an efficient and effective solution for re-localization within a pre-built map, or global data association for Simultaneous Localization and Ma…
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…
Learning Camera Performance Models for Active Multi-Camera Visual Teach and Repeat
Matías Mattamala, Milad Ramezani, Marco Camurri +1
In dynamic and cramped industrial environments, achieving reliable Visual Teach and Repeat (VT&R) with a single-camera is challenging. In this work, we develop a robust method for…