59 citations · 69 across the 8 of their papers we have counts for
8 papers
Direct LiDAR-Inertial Odometry and Mapping: Perceptive and Connective SLAM
Kenny Chen, Ryan Nemiroff, Brett T. Lopez
This paper presents Direct LiDAR-Inertial Odometry and Mapping (DLIOM), a robust SLAM algorithm with an explicit focus on computational efficiency, operational reliability, and rea…
Joint On-Manifold Gravity and Accelerometer Intrinsics Estimation for Inertially Aligned Mapping
Ryan Nemiroff, Kenny Chen, Brett T. Lopez
Aligning a robot's trajectory or map to the inertial frame is a critical capability that is often difficult to do accurately even though inertial measurement units (IMUs) can obser…
Adaptive Coverage Path Planning for Efficient Exploration of Unknown Environments
Amanda Bouman, Joshua Ott, Sung-Kyun Kim +5
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked w…
Direct LiDAR-Inertial Odometry: Lightweight LIO with Continuous-Time Motion Correction
Kenny Chen, Ryan Nemiroff, Brett T. Lopez
Aggressive motions from agile flights or traversing irregular terrain induce motion distortion in LiDAR scans that can degrade state estimation and mapping. Some methods exist to m…
Direct LiDAR Odometry: Fast Localization with Dense Point Clouds
Kenny Chen, Brett T. Lopez, Ali-akbar Agha-mohammadi +1
Field robotics in perceptually-challenging environments require fast and accurate state estimation, but modern LiDAR sensors quickly overwhelm current odometry algorithms. To this…
Resilient and consistent multirobot cooperative localization with covariance intersection
Tsang-Kai Chang, Kenny Chen, Ankur Mehta
Cooperative localization is fundamental to autonomous multirobot systems, but most algorithms couple inter-robot communication with observation, making these algorithms susceptible…
Unsupervised Monocular Depth Learning with Integrated Intrinsics and Spatio-Temporal Constraints
Kenny Chen, Alexandra Pogue, Brett T. Lopez +2
Monocular depth inference has gained tremendous attention from researchers in recent years and remains as a promising replacement for expensive time-of-flight sensors, but issues w…
Risk-Averse MPC via Visual-Inertial Input and Recurrent Networks for Online Collision Avoidance
Alexander Schperberg, Kenny Chen, Stephanie Tsuei +5
In this paper, we propose an online path planning architecture that extends the model predictive control (MPC) formulation to consider future location uncertainties for safer navig…