4 citations · 18 across the 24 of their papers we have counts for
6 papers · 1 filter
Continuous-Time State Estimation Methods in Robotics: A Survey
William Talbot, Julian Nubert, Turcan Tuna +5
Accurate, efficient, and robust state estimation is more important than ever in robotics as the variety of platforms and complexity of tasks continue to grow. Historically, discret…
Tag Map: A Text-Based Map for Spatial Reasoning and Navigation with Large Language Models
Mike Zhang, Kaixian Qu, Vaishakh Patil +2
Large Language Models (LLM) have emerged as a tool for robots to generate task plans using common sense reasoning. For the LLM to generate actionable plans, scene context must be p…
MultiViPerFrOG: A Globally Optimized Multi-Viewpoint Perception Framework for Camera Motion and Tissue Deformation
Guido Caccianiga, Julian Nubert, Cesar Cadena +2
Reconstructing the 3D shape of a deformable environment from the information captured by a moving depth camera is highly relevant to surgery. The underlying challenge is the fact t…
Informed, Constrained, Aligned: A Field Analysis on Degeneracy-aware Point Cloud Registration in the Wild
Turcan Tuna, Julian Nubert, Patrick Pfreundschuh +3
The ICP registration algorithm has been a preferred method for LiDAR-based robot localization for nearly a decade. However, even in modern SLAM solutions, ICP can degrade and becom…
ROS-LLM: A ROS framework for embodied AI with task feedback and structured reasoning
Christopher E. Mower, Yuhui Wan, Hongzhan Yu +20
We present a framework for intuitive robot programming by non-experts, leveraging natural language prompts and contextual information from the Robot Operating System (ROS). Our sys…
Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervision
Matías Mattamala, Jonas Frey, Piotr Libera +5
Natural environments such as forests and grasslands are challenging for robotic navigation because of the false perception of rigid obstacles from high grass, twigs, or bushes. In…