47 citations · 62 across the 5 of their papers we have counts for
7 papers · 1 filter
Air-Ground Collaboration with SPOMP: Semantic Panoramic Online Mapping and Planning
Ian D. Miller, Fernando Cladera, Trey Smith +2
Mapping and navigation have gone hand-in-hand since long before robots existed. Maps are a key form of communication, allowing someone who has never been somewhere to nonetheless n…
Challenges and Opportunities for Large-Scale Exploration with Air-Ground Teams using Semantics
Fernando Cladera, Ian D. Miller, Zachary Ravichandran +5
One common and desirable application of robots is exploring potentially hazardous and unstructured environments. Air-ground collaboration offers a synergistic approach to addressin…
Enabling Large-scale Heterogeneous Collaboration with Opportunistic Communications
Fernando Cladera, Zachary Ravichandran, Ian D. Miller +3
Multi-robot collaboration in large-scale environments with limited-sized teams and without external infrastructure is challenging, since the software framework required to support…
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…