6 citations · 14 across the 16 of their papers we have counts for
10 papers · 1 filter
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…
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…