88 citations · 156 across the 2 of their papers we have counts for
7 papers
Spatial Computing and Intuitive Interaction: Bringing Mixed Reality and Robotics Together
Jeffrey Delmerico, Roi Poranne, Federica Bogo +5
Spatial computing -- the ability of devices to be aware of their surroundings and to represent this digitally -- offers novel capabilities in human-robot interaction. In particular…
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…
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…
OVPC Mesh: 3D Free-space Representation for Local Ground Vehicle Navigation
Fabio Ruetz, Emili Hernández, Mark Pfeiffer +4
This paper presents a novel approach for local 3D environment representation for autonomous unmanned ground vehicle (UGV) navigation called On Visible Point Clouds Mesh(OVPC Mesh).…