234 citations · 449 across the 21 of their papers we have counts for
3 papers · 1 filter
Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems
Yulun Tian, Yun Chang, Fernando Herrera Arias +3
This paper presents Kimera-Multi, the first multi-robot system that (i) is robust and capable of identifying and rejecting incorrect inter and intra-robot loop closures resulting f…
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
Ali Agha, Kyohei Otsu, Benjamin Morrell +69
This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARP…
Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs
Antoni Rosinol, Andrew Violette, Marcus Abate +5
Humans are able to form a complex mental model of the environment they move in. This mental model captures geometric and semantic aspects of the scene, describes the environment at…