9 citations · 17 across the 9 of their papers we have counts for
11 papers
Image-Space Refraction Correction for Underwater 3D Reconstruction: Warping Flat-Port Views into Pinhole Perspective
Chelim Lim, Tobias Fischer, Emilio Olivastri +3
Consumer-grade cameras in flat-port housings are widely used for underwater exploration and mapping of coral reefs and seafloor habitats due to their low cost and accessibility. Ho…
Coral Grow-out Robotic Assessment System (CGRAS): Scaling Coral Recruit Monitoring Through Robotics and Computer Vision
Dorian Tsai, Scarlett Raine, Emilio Olivastri +12
Climate change is the largest threat to coral reefs, with increasing global impacts accelerating the need for scalable reef restoration technologies. Large-scale reef restoration d…
TACO: A Test and Check Framework for Robust Pose Graph Optimization
Emilio Olivastri, Alberto Pretto, Tobias Fischer
Pose Graph Optimization (PGO) is one of the most widely adopted approaches for solving Simultaneous Localization and Mapping (SLAM) problems. However, PGO approaches are particular…
DISF: Disentangled Iterative Surface Fitting for Contact-stable Grasp Planning with Grasp Pose Alignment to the Object Center of Mass
Tomoya Yamanokuchi, Alberto Bacchin, Emilio Olivastri +3
In this work, we address the limitation of surface fitting-based grasp planning algorithm, which primarily focuses on geometric alignment between the gripper and object surface whi…
Disentangled Iterative Surface Fitting for Contact-stable Grasp Planning
Tomoya Yamanokuchi, Alberto Bacchin, Emilio Olivastri +2
In this work, we address the limitation of surface fitting-based grasp planning algorithm, which primarily focuses on geometric alignment between the gripper and object surface whi…
Multi-Modal 3D Scene Graph Updater for Shared and Dynamic Environments
Emilio Olivastri, Jonathan Francis, Alberto Pretto +2
The advent of generalist Large Language Models (LLMs) and Large Vision Models (VLMs) have streamlined the construction of semantically enriched maps that can enable robots to groun…
A Sonar-based AUV Positioning System for Underwater Environments with Low Infrastructure Density
Emilio Olivastri, Daniel Fusaro, Wanmeng Li +2
The increasing demand for underwater vehicles highlights the necessity for robust localization solutions in inspection missions. In this work, we present a novel real-time sonar-ba…
IPC: Incremental Probabilistic Consensus-based Consistent Set Maximization for SLAM Backends
Emilio Olivastri, Alberto Pretto
In SLAM (Simultaneous localization and mapping) problems, Pose Graph Optimization (PGO) is a technique to refine an initial estimate of a set of poses (positions and orientations)…
Improving Generalization of Synthetically Trained Sonar Image Descriptors for Underwater Place Recognition
Ivano Donadi, Emilio Olivastri, Daniel Fusaro +3
Autonomous navigation in underwater environments presents challenges due to factors such as light absorption and water turbidity, limiting the effectiveness of optical sensors. Son…
A Graph-based Optimization Framework for Hand-Eye Calibration for Multi-Camera Setups
Daniele Evangelista, Emilio Olivastri, Davide Allegro +2
Hand-eye calibration is the problem of estimating the spatial transformation between a reference frame, usually the base of a robot arm or its gripper, and the reference frame of o…
Pushing the Limits of Learning-based Traversability Analysis for Autonomous Driving on CPU
Daniel Fusaro, Emilio Olivastri, Daniele Evangelista +3
Self-driving vehicles and autonomous ground robots require a reliable and accurate method to analyze the traversability of the surrounding environment for safe navigation. This pap…