4 papers
Scalable and Differentiable Point-Cloud Registration Using Maximum Mean Discrepancy
Rixon Crane, Fahira Afzal Maken, Nicholas Lawrance +4
We present MMD-Reg, a novel correspondence-free approach to point-cloud registration that is differentiable and has linear computational complexity in the number of points. We mode…
Online Adaptive Traversability Estimation through Interaction for Unstructured, Densely Vegetated Environments
Fabio A. Ruetz, Nicholas Lawrance, Emili Hernández +2
Navigating densely vegetated environments poses significant challenges for autonomous ground vehicles. Learning-based systems typically use prior and in-situ data to predict terrai…
Under-Canopy Navigation using Aerial Lidar Maps
Lucas Carvalho de Lima, Nicholas Lawrance, Kasra Khosoussi +2
Autonomous navigation in unstructured natural environments poses a significant challenge. In goal navigation tasks without prior information, the limited look-ahead of onboard sens…
ForestTrav: Accurate, Efficient and Deployable Forest Traversability Estimation for Autonomous Ground Vehicles
Fabio Ruetz, Nicholas Lawrance, Emili Hernández +2
Autonomous navigation in unstructured vegetated environments remains an open challenge. To successfully operate in these settings, ground vehicles must assess the traversability of…