47 citations · 48 across the 3 of their papers we have counts for
9 papers
Any Way You Look At It: Semantic Crossview Localization and Mapping with LiDAR
Ian D. Miller, Anthony Cowley, Ravi Konkimalla +5
Currently, GPS is by far the most popular global localization method. However, it is not always reliable or accurate in all environments. SLAM methods enable local state estimation…
DSOL: A Fast Direct Sparse Odometry Scheme
Chao Qu, Shreyas S. Shivakumar, Ian D. Miller +1
In this paper, we describe Direct Sparse Odometry Lite (DSOL), an improved version of Direct Sparse Odometry (DSO). We propose several algorithmic and implementation enhancements w…
UPSLAM: Union of Panoramas SLAM
Anthony Cowley, Ian D. Miller, Camillo Jose Taylor
We present an empirical investigation of a new mapping system based on a graph of panoramic depth images. Panoramic images efficiently capture range measurements taken by a spinnin…
PennSyn2Real: Training Object Recognition Models without Human Labeling
Ty Nguyen, Ian D. Miller, Avi Cohen +5
Scalable training data generation is a critical problem in deep learning. We propose PennSyn2Real - a photo-realistic synthetic dataset consisting of more than 100,000 4K images of…
PST900: RGB-Thermal Calibration, Dataset and Segmentation Network
Shreyas S. Shivakumar, Neil Rodrigues, Alex Zhou +3
In this work we propose long wave infrared (LWIR) imagery as a viable supporting modality for semantic segmentation using learning-based techniques. We first address the problem of…
Mine Tunnel Exploration using Multiple Quadrupedal Robots
Ian D. Miller, Fernando Cladera, Anthony Cowley +11
Robotic exploration of underground environments is a particularly challenging problem due to communication, endurance, and traversability constraints which necessitate high degrees…