9 citations · 11 across the 7 of their papers we have counts for
8 papers · 1 filter
Low-Latency Mapless ESDF Queries for MAV Reactive Collision Avoidance
Leonard Freißmuth, Cedric Le Gentil, Helen Oleynikova +1
Reactive collision avoidance in unknown, cluttered environments must perceive obstacles and correct motion within milliseconds. Existing methods rely on maps for high-rate collisio…
Dr-LiSA: Direct Radar-Lidar Scan Alignment for SE(3) Localization
Alex Zhang, Daniil Lisus, Cedric Le Gentil +1
This paper introduces Dr-LiSA, a first-of-its-kind direct method for localizing 2D spinning radar intensity measurements in against 3D lidar maps. Radar-lidar localization…
DRT&R: Direct Radar Teach & Repeat
Alexander Krawciw, Daniil Lisus, Cedric Le Gentil +1
Radar-based navigation is appealing for its robustness to adverse conditions involving airborne particles, such as precipitation, dust, fog, and smoke, that can cause lidar-based s…
Scalix: Uncertainty-Aware Scale-Consistent Monocular SLAM
Sebastian Barbas Laina, Tianyi Zhang, Panagiotis Petropoulakis +5
Cameras are ubiquitous sensors in robotics due to their compact form factor and the perceptual richness captured through visual information. Monocular SLAM enables robots to unders…
3DRO: Lidar-level SE(3) Direct Radar Odometry Using a 2D Imaging Radar and a Gyroscope
Cedric Le Gentil, Daniil Lisus, Timothy D. Barfoot
Recently, the robotics community has regained interest in radar-based perception and state estimation. A 2D imaging radar provides dense 360deg information about the environment. D…
Dr-BA: Separable Optimization for Direct Radar Bundle Adjustment & Localization
Daniil Lisus, Cedric Le Gentil, Timothy D. Barfoot
This paper introduces Dr-BA, a first-of-its-kind radar bundle adjustment (BA) framework that operates directly on 2D spinning radar intensity images. Unlike camera or lidar sensors…
Dr-PoGO: Direct Radar Pose-Graph Optimization
Cedric Le Gentil, Weican Li, Leonardo Brizi +1
This paper introduces Dr-PoGO, a method for Simultaneous Localization And Mapping (SLAM) using a 2D spinning radar. Unlike cameras or lidars that require line-of-sight, millimetre-…
BIEVR-LIO: Robust LiDAR-Inertial Odometry through Bump-Image-Enhanced Voxel Maps
Patrick Pfreundschuh, Turcan Tuna, Cedric Le Gentil +3
Reliable odometry is essential for mobile robots as they increasingly enter more challenging environments, which often contain little information to constrain point cloud registrat…