513 citations · 633 across the 18 of their papers we have counts for
21 papers
SAHA: Supervised Autonomous HArvester for selective forest thinning
Fang Nan, Meher Malladi, Qingqing Li +7
Forestry plays a vital role in our society, creating significant ecological, economic, and recreational value. Efficient forest management involves labor-intensive and complex oper…
A Robust Approach for LiDAR-Inertial Odometry Without Sensor-Specific Modeling
Meher V. R. Malladi, Tiziano Guadagnino, Luca Lobefaro +1
Accurate odometry is a critical component in a robotic navigation stack, and subsequent modules such as planning and control often rely on an estimate of the robot's motion. Sensor…
KISS-SLAM: A Simple, Robust, and Accurate 3D LiDAR SLAM System With Enhanced Generalization Capabilities
Tiziano Guadagnino, Benedikt Mersch, Saurabh Gupta +3
Robust and accurate localization and mapping of an environment using laser scanners, so-called LiDAR SLAM, is essential to many robotic applications. Early 3D LiDAR SLAM methods of…
Efficiently Closing Loops in LiDAR-Based SLAM Using Point Cloud Density Maps
Saurabh Gupta, Tiziano Guadagnino, Benedikt Mersch +3
Consistent maps are key for most autonomous mobile robots, and they often use SLAM approaches to build such maps. Loop closures via place recognition help to maintain accurate pose…
Efficient LiDAR Bundle Adjustment for Multi-Scan Alignment Utilizing Continuous-Time Trajectories
Louis Wiesmann, Elias Marks, Saurabh Gupta +3
Constructing precise global maps is a key task in robotics and is required for localization, surveying, monitoring, or constructing digital twins. To build accurate maps, data from…
Kinematic-ICP: Enhancing LiDAR Odometry with Kinematic Constraints for Wheeled Mobile Robots Moving on Planar Surfaces
Tiziano Guadagnino, Benedikt Mersch, Ignacio Vizzo +5
LiDAR odometry is essential for many robotics applications, including 3D mapping, navigation, and simultaneous localization and mapping. LiDAR odometry systems are usually based on…
Unsupervised Pre-Training for 3D Leaf Instance Segmentation
Gianmarco Roggiolani, Federico Magistri, Tiziano Guadagnino +2
Crops for food, feed, fiber, and fuel are key natural resources for our society. Monitoring plants and measuring their traits is an important task in agriculture often referred to…
LIO-EKF: High Frequency LiDAR-Inertial Odometry using Extended Kalman Filters
Yibin Wu, Tiziano Guadagnino, Louis Wiesmann +3
Odometry estimation is crucial for every autonomous system requiring navigation in an unknown environment. In modern mobile robots, 3D LiDAR-inertial systems are often used for thi…
Building Volumetric Beliefs for Dynamic Environments Exploiting Map-Based Moving Object Segmentation
Benedikt Mersch, Tiziano Guadagnino, Xieyuanli Chen +3
Mobile robots that navigate in unknown environments need to be constantly aware of the dynamic objects in their surroundings for mapping, localization, and planning. It is key to r…
On Domain-Specific Pre-Training for Effective Semantic Perception in Agricultural Robotics
Gianmarco Roggiolani, Federico Magistri, Tiziano Guadagnino +4
Agricultural robots have the prospect to enable more efficient and sustainable agricultural production of food, feed, and fiber. Perception of crops and weeds is a central componen…
Long-Term Localization using Semantic Cues in Floor Plan Maps
Nicky Zimmerman, Tiziano Guadagnino, Xieyuanli Chen +2
Lifelong localization in a given map is an essential capability for autonomous service robots. In this paper, we consider the task of long-term localization in a changing indoor en…
Hierarchical Approach for Joint Semantic, Plant Instance, and Leaf Instance Segmentation in the Agricultural Domain
Gianmarco Roggiolani, Matteo Sodano, Tiziano Guadagnino +3
Plant phenotyping is a central task in agriculture, as it describes plants' growth stage, development, and other relevant quantities. Robots can help automate this process by accur…
IR-MCL: Implicit Representation-Based Online Global Localization
Haofei Kuang, Xieyuanli Chen, Tiziano Guadagnino +3
Determining the state of a mobile robot is an essential building block of robot navigation systems. In this paper, we address the problem of estimating the robots pose in an indoor…
Robust Double-Encoder Network for RGB-D Panoptic Segmentation
Matteo Sodano, Federico Magistri, Tiziano Guadagnino +2
Perception is crucial for robots that act in real-world environments, as autonomous systems need to see and understand the world around them to act properly. Panoptic segmentation…
KISS-ICP: In Defense of Point-to-Point ICP -- Simple, Accurate, and Robust Registration If Done the Right Way
Ignacio Vizzo, Tiziano Guadagnino, Benedikt Mersch +3
Robust and accurate pose estimation of a robotic platform, so-called sensor-based odometry, is an essential part of many robotic applications. While many sensor odometry systems ma…
Handling Constrained Optimization in Factor Graphs for Autonomous Navigation
Barbara Bazzana, Tiziano Guadagnino, Giorgio Grisetti
Factor graphs are graphical models used to represent a wide variety of problems across robotics, such as Structure from Motion (SfM), Simultaneous Localization and Mapping (SLAM) a…
HiPE: Hierarchical Initialization for Pose Graphs
Tiziano Guadagnino, Luca Di Giammarino, Giorgio Grisetti
Pose graph optimization is a non-convex optimization problem encountered in many areas of robotics perception. Its convergence to an accurate solution is conditioned by two factors…
MD-SLAM: Multi-cue Direct SLAM
Luca Di Giammarino, Leonardo Brizi, Tiziano Guadagnino +2
Simultaneous Localization and Mapping (SLAM) systems are fundamental building blocks for any autonomous robot navigating in unknown environments. The SLAM implementation heavily de…
Robust Onboard Localization in Changing Environments Exploiting Text Spotting
Nicky Zimmerman, Louis Wiesmann, Tiziano Guadagnino +3
Robust localization in a given map is a crucial component of most autonomous robots. In this paper, we address the problem of localizing in an indoor environment that changes and w…
Plug-and-Play SLAM: A Unified SLAM Architecture for Modularity and Ease of Use
Mirco Colosi, Irvin Aloise, Tiziano Guadagnino +4
Nowadays, SLAM (Simultaneous Localization and Mapping) is considered by the Robotics community to be a mature field. Currently, there are many open-source systems that are able to…
Least Squares Optimization: from Theory to Practice
Giorgio Grisetti, Tiziano Guadagnino, Irvin Aloise +3
Nowadays, Non-Linear Least-Squares embodies the foundation of many Robotics and Computer Vision systems. The research community deeply investigated this topic in the last years, an…