47 citations · 66 across the 9 of their papers we have counts for
5 papers · 1 filter
An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments
Ali Agha, Kyohei Otsu, Benjamin Morrell +86
This paper presents an appendix to the original NeBula autonomy solution developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), participating in the DARPA Sub…
LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments
Yun Chang, Kamak Ebadi, Christopher E. Denniston +9
Search and rescue with a team of heterogeneous mobile robots in unknown and large-scale underground environments requires high-precision localization and mapping. This crucial requ…
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…
3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans
Antoni Rosinol, Arjun Gupta, Marcus Abate +2
We present a unified representation for actionable spatial perception: 3D Dynamic Scene Graphs. Scene graphs are directed graphs where nodes represent entities in the scene (e.g. o…
Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping
Antoni Rosinol, Marcus Abate, Yun Chang +1
We provide an open-source C++ library for real-time metric-semantic visual-inertial Simultaneous Localization And Mapping (SLAM). The library goes beyond existing visual and visual…