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cs.RO2026
HP2-SLAM: Adaptive Hybrid ICP for Robust and Efficient LiDAR SLAM
Nam Tran, Thu Tran, Hieu Phan +4
Achieving robustness, accuracy, and efficiency simultaneously remains a central challenge in light detection and ranging (LiDAR) simultaneous localization and mapping (SLAM). While…
cs.RO2021
Learning the Next Best View for 3D Point Clouds via Topological Features
Christopher Collander, William J. Beksi, Manfred Huber
In this paper, we introduce a reinforcement learning approach utilizing a novel topology-based information gain metric for directing the next best view of a noisy 3D sensor. The me…
cs.RO2020
Camera-Based Adaptive Trajectory Guidance via Neural Networks
Aditya Rajguru, Christopher Collander, William J. Beksi
In this paper, we introduce a novel method to capture visual trajectories for navigating an indoor robot in dynamic settings using streaming image data. First, an image processing…