10 papers
4D Radar Gaussian Modeling and Scan Matching with RCS
Fernando Amodeo, Luis Merino, Fernando Caballero
4D millimeter-wave (mmWave) radars are increasingly used in robotics, as they offer robustness against adverse environmental conditions. Besides the usual XYZ position, they provid…
G-EDF-Loc: 3D Continuous Gaussian Distance Field for Robust Gradient-Based 6DoF Localization
José E. Maese, Lucía Coto-Elena, Luis Merino +1
This paper presents a robust 6-DoF localization framework based on a direct, CPU-based scan-to-map registration pipeline. The system leverages G-EDF, a novel continuous and memory-…
DB-TSDF: Directional Bitmask-based Truncated Signed Distance Fields for Efficient Volumetric Mapping
Jose E. Maese, Luis Merino, Fernando Caballero
This paper presents a high-efficiency, CPU-only volumetric mapping framework based on a Truncated Signed Distance Field (TSDF). The system incrementally fuses raw LiDAR point-cloud…
Radio-based Multi-Robot Odometry and Relative Localization
Andrés Martínez-Silva, David Alejo, Luis Merino +1
Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in po…
HuNavSim 2.0: An Enhanced Human Navigation Simulator for Human-Aware Robot Navigation
Miguel Escudero-Jiménez, Noé Pérez-Higueras, Andrés Martínez-Silva +2
This work presents a new iteration of the Human Navigation Simulator (HuNavSim), a novel open-source tool for the simulation of different human-agent navigation behaviors in scenar…
Long Duration Inspection of GNSS-Denied Environments with a Tethered UAV-UGV Marsupial System
Simón Martínez-Rozas, David Alejo, José Javier Carpio +2
Unmanned Aerial Vehicles (UAVs) have become essential tools in inspection and emergency response operations due to their high maneuverability and ability to access hard-to-reach ar…