38 citations · 73 across the 6 of their papers we have counts for
5 papers · 1 filter
Continuous-Time vs. Discrete-Time Vision-based SLAM: A Comparative Study
Giovanni Cioffi, Titus Cieslewski, Davide Scaramuzza
Robotic practitioners generally approach the vision-based SLAM problem through discrete-time formulations. This has the advantage of a consolidated theory and very good understandi…
AlphaPilot: Autonomous Drone Racing
Philipp Foehn, Dario Brescianini, Elia Kaufmann +4
This paper presents a novel system for autonomous, vision-based drone racing combining learned data abstraction, nonlinear filtering, and time-optimal trajectory planning. The syst…
Exploration Without Global Consistency Using Local Volume Consolidation
Titus Cieslewski, Andreas Ziegler, Davide Scaramuzza
In exploration, the goal is to build a map of an unknown environment. Most state-of-the-art approaches use map representations that require drift-free state estimates to function p…
Data-Efficient Decentralized Visual SLAM
Titus Cieslewski, Siddharth Choudhary, Davide Scaramuzza
Decentralized visual simultaneous localization and mapping (SLAM) is a powerful tool for multi-robot applications in environments where absolute positioning systems are not availab…
Efficient Decentralized Visual Place Recognition From Full-Image Descriptors
Titus Cieslewski, Davide Scaramuzza
In this paper, we discuss the adaptation of our decentralized place recognition method described in [1] to full image descriptors. As we had shown, the key to making a scalable dec…