3 papers
cs.RO2024
Kimera2: Robust and Accurate Metric-Semantic SLAM in the Real World
Marcus Abate, Yun Chang, Nathan Hughes +1
We present improvements to Kimera, an open-source metric-semantic visual-inertial SLAM library. In particular, we enhance Kimera-VIO, the visual-inertial odometry pipeline powering…
cs.RO2023
Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems
Nathan Hughes, Yun Chang, Siyi Hu +4
3D spatial perception is the problem of building and maintaining an actionable and persistent representation of the environment in real-time using sensor data and prior knowledge.…
cs.RO2023
Hydra-Multi: Collaborative Online Construction of 3D Scene Graphs with Multi-Robot Teams
Yun Chang, Nathan Hughes, Aaron Ray +1
3D scene graphs have recently emerged as an expressive high-level map representation that describes a 3D environment as a layered graph where nodes represent spatial concepts at mu…