11 papers · 1 filter
Scalix: Uncertainty-Aware Scale-Consistent Monocular SLAM
Sebastian Barbas Laina, Tianyi Zhang, Panagiotis Petropoulakis +5
Cameras are ubiquitous sensors in robotics due to their compact form factor and the perceptual richness captured through visual information. Monocular SLAM enables robots to unders…
HumanHalo -- Safe and Efficient 3D Navigation Among Humans via Minimally Conservative MPC
Simon Schaefer, Helen Oleynikova, Sandra Hirche +1
Safe and efficient robotic navigation among humans is essential for integrating robots into everyday environments. Most existing approaches focus on simplified 2D crowd navigation…
AERO-VIS: Asynchronous Event-based Real-time Onboard Visual-Inertial SLAM
Yannick Burkhardt, Sebastián Barbas Laina, Simon Boche +2
The robustness of event cameras to high dynamic range and motion blur holds the potential to improve visual odometry systems in challenging environments. Although their high tempor…
DigiForest: Digital Analytics and Robotics for Sustainable Forestry
Marco Camurri, Enrico Tomelleri, MatÃas Mattamala +18
Covering one third of Earth's land surface, forests are vital to global biodiversity, climate regulation, and human well-being. In Europe, forests and woodlands reach approximately…
FindAnything: Open-Vocabulary and Object-Centric Mapping for Robot Exploration in Any Environment
Sebastián Barbas Laina, Simon Boche, Sotiris Papatheodorou +4
Geometrically accurate and semantically expressive map representations have proven invaluable for robot deployment and task planning in unknown environments. Nevertheless, real-tim…
OKVIS2-X: Open Keyframe-based Visual-Inertial SLAM Configurable with Dense Depth or LiDAR, and GNSS
Simon Boche, Jaehyung Jung, Sebastián Barbas Laina +1
To empower mobile robots with usable maps as well as highest state estimation accuracy and robustness, we present OKVIS2-X: a state-of-the-art multi-sensor Simultaneous Localizatio…