1 citations · 1 across the 2 of their papers we have counts for
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Loc-NeRF: Monte Carlo Localization using Neural Radiance Fields
Dominic Maggio, Marcus Abate, Jingnan Shi +2
We present Loc-NeRF, a real-time vision-based robot localization approach that combines Monte Carlo localization and Neural Radiance Fields (NeRF). Our system uses a pre-trained Ne…
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…