5 papers
CILC: Cryptographically-secure Inter-agent Loop Closure Candidate Detection for Multi-Agent Collaborative SLAM
Andrew Fishberg, Yixuan Jia, Jonathan P. How
Multi-agent Simultaneous Localization and Mapping (SLAM) and collaborative SLAM (CSLAM) require robots to continuously exchange global descriptors (GDs) to detect inter-agent loop…
CU-Multi: A Dataset for Multi-Robot Collaborative Perception
Doncey Albin, Daniel McGann, Miles Mena +6
A central challenge for multi-robot systems is fusing independently gathered perception data into a unified representation. Despite progress in Collaborative SLAM (C-SLAM), benchma…
Meridian: Metric-Semantic Primitive Matching for Cross-View Geo-Localization Beyond Urban Environments
Mason Peterson, Qingyuan Li, Yixuan Jia +4
Successful robot automation requires accurate global localization to support repeatability, task planning, goal specification, and safe operation. However, reliable localization in…
Robust Dynamic Object Detection in Cluttered Indoor Scenes via Learned Spatiotemporal Cues
Juan Rached, Yixuan Jia, Kota Kondo +1
Reliable dynamic object detection in cluttered environments remains a critical challenge for autonomous navigation. Purely geometric LiDAR pipelines that rely on clustering and heu…
VISTA: Monocular Segmentation-Based Mapping for Appearance and View-Invariant Global Localization
Hannah Shafferman, Annika Thomas, Jouko Kinnari +3
Global localization is critical for autonomous navigation, particularly in scenarios where an agent must localize within a map generated in a different session or by another agent,…