88 citations · 89 across the 2 of their papers we have counts for
5 papers · 1 filter
Freetures: Localization in Signed Distance Function Maps
Alexander Millane, Helen Oleynikova, Christian Lanegger +5
Localization of a robotic system within a previously mapped environment is important for reducing estimation drift and for reusing previously built maps. Existing techniques for ge…
Voxgraph: Globally Consistent, Volumetric Mapping using Signed Distance Function Submaps
Victor Reijgwart, Alexander Millane, Helen Oleynikova +3
Globally consistent dense maps are a key requirement for long-term robot navigation in complex environments. While previous works have addressed the challenges of dense mapping and…
Free-Space Features: Global Localization in 2D Laser SLAM Using Distance Function Maps
Alexander Millane, Helen Oleynikova, Juan Nieto +2
In many applications, maintaining a consistent map of the environment is key to enabling robotic platforms to perform higher-level decision making. Detection of already visited loc…
Obstacle-aware Adaptive Informative Path Planning for UAV-based Target Search
Ajith Anil Meera, Marija Popovic, Alexander Millane +1
Target search with unmanned aerial vehicles (UAVs) is relevant problem to many scenarios, e.g., search and rescue (SaR). However, a key challenge is planning paths for maximal sear…
An Open-Source System for Vision-Based Micro-Aerial Vehicle Mapping, Planning, and Flight in Cluttered Environments
Helen Oleynikova, Christian Lanegger, Zachary Taylor +4
We present an open-source system for Micro-Aerial Vehicle autonomous navigation from vision-based sensing. Our system focuses on dense mapping, safe local planning, and global traj…