36 citations · 123 across the 17 of their papers we have counts for
5 papers · 1 filter
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…
PyPose: A Library for Robot Learning with Physics-based Optimization
Chen Wang, Dasong Gao, Kuan Xu +34
Deep learning has had remarkable success in robotic perception, but its data-centric nature suffers when it comes to generalizing to ever-changing environments. By contrast, physic…
Optimal and Robust Category-level Perception: Object Pose and Shape Estimation from 2D and 3D Semantic Keypoints
Jingnan Shi, Heng Yang, Luca Carlone
We consider a category-level perception problem, where one is given 2D or 3D sensor data picturing an object of a given category (e.g., a car), and has to reconstruct the 3D pose a…
Visual Navigation for Autonomous Vehicles: An Open-source Hands-on Robotics Course at MIT
Luca Carlone, Kasra Khosoussi, Vasileios Tzoumas +5
This paper reports on the development, execution, and open-sourcing of a new robotics course at MIT. The course is a modern take on "Visual Navigation for Autonomous Vehicles" (VNA…
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…