36 citations · 70 across the 18 of their papers we have counts for
21 papers
SLAMSqueezeBench: Comparing SLAM Systems under Resource Constraints
Mohamed Hefny, Karthik Dantu, Steven Y. Ko
Simultaneous localization and mapping (SLAM) is one of the services running on an autonomous robot. It is typically run to assist other tasks such as planning, manipulation, etc. A…
TurboMap: GPU-Accelerated Local Mapping for Visual SLAM
Parsa Hosseininejad, Kimia Khabiri, Shishir Gopinath +3
In real-time Visual SLAM systems, local mapping must operate under strict latency constraints, as delays degrade map quality and increase the risk of tracking failure. GPU parallel…
Graphite: A GPU-Accelerated Mixed-Precision Graph Optimization Framework
Shishir Gopinath, Karthik Dantu, Steven Y. Ko
We present Graphite, a GPU-accelerated nonlinear least squares graph optimization framework. It provides a CUDA C++ interface to enable the sharing of code between a real-time appl…
FastTrack: GPU-Accelerated Tracking for Visual SLAM
Kimia Khabiri, Parsa Hosseininejad, Shishir Gopinath +2
The tracking module of a visual-inertial SLAM system processes incoming image frames and IMU data to estimate the position of the frame in relation to the map. It is important for…
Detailed Evaluation of Modern Machine Learning Approaches for Optic Plastics Sorting
Vaishali Maheshkar, Aadarsh Anantha Ramakrishnan, Charuvahan Adhivarahan +1
According to the EPA, only 25% of waste is recycled, and just 60% of U.S. municipalities offer curbside recycling. Plastics fare worse, with a recycling rate of only 8%; an additio…
AnyNav: Visual Neuro-Symbolic Friction Learning for Off-road Navigation
Taimeng Fu, Zitong Zhan, Zhipeng Zhao +7
Off-road navigation is critical for a wide range of field robotics applications from planetary exploration to disaster response. However, it remains a longstanding challenge due to…
l-dyno: framework to learn consistent visual features using robot's motion
Kartikeya Singh, Charuvaran Adhivarahan, Karthik Dantu
Historically, feature-based approaches have been used extensively for camera-based robot perception tasks such as localization, mapping, tracking, and others. Several of these appr…
PyPose v0.6: The Imperative Programming Interface for Robotics
Zitong Zhan, Xiangfu Li, Qihang Li +33
PyPose is an open-source library for robot learning. It combines a learning-based approach with physics-based optimization, which enables seamless end-to-end robot learning. It has…
DIOR: Dataset for Indoor-Outdoor Reidentification -- Long Range 3D/2D Skeleton Gait Collection Pipeline, Semi-Automated Gait Keypoint Labeling and Baseline Evaluation Methods
Yuyang Chen, Praveen Raj Masilamani, Bhavin Jawade +2
In recent times, there is an increased interest in the identification and re-identification of people at long distances, such as from rooftop cameras, UAV cameras, street cams, and…
Fast Decision Support for Air Traffic Management at Urban Air Mobility Vertiports using Graph Learning
Prajit KrisshnaKumar, Jhoel Witter, Steve Paul +3
Urban Air Mobility (UAM) promises a new dimension to decongested, safe, and fast travel in urban and suburban hubs. These UAM aircraft are conceived to operate from small airports…
Empir3D : A Framework for Multi-Dimensional Point Cloud Assessment
Yash Turkar, Pranay Meshram, Christo Aluckal +2
Advancements in sensors, algorithms, and compute hardware have made 3D perception feasible in real time. Current methods to compare and evaluate the quality of a 3D model, such as…
You Only Crash Once: Improved Object Detection for Real-Time, Sim-to-Real Hazardous Terrain Detection and Classification for Autonomous Planetary Landings
Timothy Chase, Chris Gnam, John Crassidis +1
The detection of hazardous terrain during the planetary landing of spacecraft plays a critical role in assuring vehicle safety and mission success. A cheap and effective way of det…
Graph Learning Based Decision Support for Multi-Aircraft Take-Off and Landing at Urban Air Mobility Vertiports
Prajit KrisshnaKumar, Jhoel Witter, Steve Paul +2
Majority of aircraft under the Urban Air Mobility (UAM) concept are expected to be of the electric vertical takeoff and landing (eVTOL) vehicle type, which will operate out of vert…
Design of an Adaptive Lightweight LiDAR to Decouple Robot-Camera Geometry
Yuyang Chen, Dingkang Wang, Lenworth Thomas +2
A fundamental challenge in robot perception is the coupling of the sensor pose and robot pose. This has led to research in active vision where robot pose is changed to reorient the…
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…
Using Physiological Information to Classify Task Difficulty in Human-Swarm Interaction
Joseph P. Distefano, Hemanth Manjunatha, Souma Chowdhury +3
Human-swarm interaction has recently gained attention due to its plethora of new applications in disaster relief, surveillance, rescue, and exploration. However, if the task diffic…
Learning Robot Swarm Tactics over Complex Adversarial Environments
Amir Behjat, Hemanth Manjunatha, Prajit KrisshnaKumar +8
To accomplish complex swarm robotic missions in the real world, one needs to plan and execute a combination of single robot behaviors, group primitives such as task allocation, pat…
Scalable Coverage Path Planning of Multi-Robot Teams for Monitoring Non-Convex Areas
Leighton Collins, Payam Ghassemi, Ehsan T. Esfahani +3
This paper presents a novel multi-robot coverage path planning (CPP) algorithm - aka SCoPP - that provides a time-efficient solution, with workload balanced plans for each robot in…
Active Face Frontalization using Commodity Unmanned Aerial Vehicles
Nagashri Lakshminarayana, Yifang Liu, Karthik Dantu +2
This paper describes a system by which Unmanned Aerial Vehicles (UAVs) can gather high-quality face images that can be used in biometric identification tasks. Success in face-based…
Understanding Bounding Functions in Safety-Critical UAV Software
Xiaozhou Liang, John Henry Burns, Joseph Sanchez +3
Unmanned Aerial Vehicles (UAVs) are an emerging computation platform known for their safety-critical need. In this paper, we conduct an empirical study on a widely used open-source…
Augmenting Visual SLAM with Wi-Fi Sensing For Indoor Applications
Zakieh S. Hashemifar, Charuvahan Adhivarahan, Anand Balakrishnan +1
Recent trends have accelerated the development of spatial applications on mobile devices and robots. These include navigation, augmented reality, human-robot interaction, and other…