234 citations · 628 across the 14 of their papers we have counts for
17 papers
DASH-SLAM: Calibration-Free Metric Monocular SLAM via Depth Scale Propagation
Otavio Ribas, Jacopo Panerati, Pierre-Yves Lajoie
Geometric foundation models estimate dense geometry and camera parameters from monocular images, but reliable SLAM also requires consistent scale and accurate data association acro…
Compact Keyframe-Optimized Multi-Agent Gaussian Splatting SLAM
Monica M. Q. Li, Pierre-Yves Lajoie, Jialiang Liu +1
Efficient multi-agent 3D mapping is essential for robotic teams operating in unknown environments, but dense representations hinder real-time exchange over constrained communicatio…
3D Foundation Model-Based Loop Closing for Decentralized Collaborative SLAM
Pierre-Yves Lajoie, Benjamin Ramtoula, Daniele De Martini +1
Decentralized Collaborative Simultaneous Localization And Mapping (C-SLAM) techniques often struggle to identify map overlaps due to significant viewpoint variations among robots.…
Multi-Robot Decentralized Collaborative SLAM in Planetary Analogue Environments: Dataset, Challenges, and Lessons Learned
Pierre-Yves Lajoie, Karthik Soma, Haechan Mark Bong +4
Decentralized collaborative simultaneous localization and mapping (C-SLAM) is essential to enable multirobot missions in unknown environments without relying on preexisting localiz…
Fantastic Features and Where to Find Them: A Probing Method to combine Features from Multiple Foundation Models
Benjamin Ramtoula, Pierre-Yves Lajoie, Paul Newman +1
Foundation models (FMs) trained with different objectives and data learn diverse representations, making some more effective than others for specific downstream tasks. Existing ada…
Frequency-based View Selection in Gaussian Splatting Reconstruction
Monica M. Q. Li, Pierre-Yves Lajoie, Giovanni Beltrame
Three-dimensional reconstruction is a fundamental problem in robotics perception. We examine the problem of active view selection to perform 3D Gaussian Splatting reconstructions w…
Hierarchies define the scalability of robot swarms
Vivek Shankar Varadharajan, Karthik Soma, Sepand Dyanatkar +2
The emerging behaviors of swarms have fascinated scientists and gathered significant interest in the field of robotics. Traditionally, swarms are viewed as egalitarian, with robots…
Device-Free Human State Estimation using UWB Multi-Static Radios
Saria Al Laham, Bobak H. Baghi, Pierre-Yves Lajoie +4
We present a human state estimation framework that allows us to estimate the location, and even the activities, of people in an indoor environment without the requirement that they…
PEOPLEx: PEdestrian Opportunistic Positioning LEveraging IMU, UWB, BLE and WiFi
Pierre-Yves Lajoie, Bobak Hamed Baghi, Sachini Herath +3
This paper advances the field of pedestrian localization by introducing a unifying framework for opportunistic positioning based on nonlinear factor graph optimization. While many…
Swarm-SLAM : Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot Systems
Pierre-Yves Lajoie, Giovanni Beltrame
Collaborative Simultaneous Localization And Mapping (C-SLAM) is a vital component for successful multi-robot operations in environments without an external positioning system, such…
Analyze, Debug, Optimize: Real-Time Tracing for Perception and Mapping Systems in ROS 2
Pierre-Yves Lajoie, Christophe Bédard, Giovanni Beltrame
Perception and mapping systems are among the most computationally, memory, and bandwidth intensive software components in robotics. Therefore, analysis, debugging, and optimization…
Message Flow Analysis with Complex Causal Links for Distributed ROS 2 Systems
Christophe Bédard, Pierre-Yves Lajoie, Giovanni Beltrame +1
Distributed robotic systems rely heavily on the publish-subscribe communication paradigm and middleware frameworks that support it, such as the Robot Operating System (ROS), to eff…
Self-Supervised Domain Calibration and Uncertainty Estimation for Place Recognition
Pierre-Yves Lajoie, Giovanni Beltrame
Visual place recognition techniques based on deep learning, which have imposed themselves as the state-of-the-art in recent years, do not generalize well to environments visually d…
DORA: Distributed Online Risk-Aware Explorer
David Vielfaure, Samuel Arseneault, Pierre-Yves Lajoie +1
Exploration of unknown environments is an important challenge in the field of robotics. While a single robot can achieve this task alone, evidence suggests it could be accomplished…
Towards Collaborative Simultaneous Localization and Mapping: a Survey of the Current Research Landscape
Pierre-Yves Lajoie, Benjamin Ramtoula, Fang Wu +1
Motivated by the tremendous progress we witnessed in recent years, this paper presents a survey of the scientific literature on the topic of Collaborative Simultaneous Localization…
DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams
Pierre-Yves Lajoie, Benjamin Ramtoula, Yun Chang +2
To achieve collaborative tasks, robots in a team need to have a shared understanding of the environment and their location within it. Distributed Simultaneous Localization and Mapp…
Modeling Perceptual Aliasing in SLAM via Discrete-Continuous Graphical Models
Pierre-Yves Lajoie, Siyi Hu, Giovanni Beltrame +1
Perceptual aliasing is one of the main causes of failure for Simultaneous Localization and Mapping (SLAM) systems operating in the wild. Perceptual aliasing is the phenomenon where…