5 papers · 1 filter
AgiPIX: Bridging Simulation and Reality in Indoor Aerial Inspection
Sasanka Kuruppu Arachchige, Juan Jose Garcia, Changda Tian +4
Autonomous indoor flight for critical asset inspection presents fundamental challenges in perception, planning, control, and learning. Despite rapid progress, there is still a lack…
Data Scaling for Navigation in Unknown Environments
Lauri Suomela, Naoki Takahata, Sasanka Kuruppu Arachchige +2
Generalization of imitation-learned navigation policies to environments unseen in training remains a major challenge. We address this by conducting the first large-scale study of h…
Synthetic vs. Real Training Data for Visual Navigation
Lauri Suomela, Sasanka Kuruppu Arachchige, German F. Torres +2
This paper investigates how the performance of visual navigation policies trained in simulation compares to policies trained with real-world data. Performance degradation of simula…
Self-Organizing Edge Computing Distribution Framework for Visual SLAM
Jussi Kalliola, Lauri Suomela, Sergio Moreschini +1
Localization within a known environment is a crucial capability for mobile robots. Simultaneous Localization and Mapping (SLAM) is a prominent solution to this problem. SLAM is a f…
PlaceNav: Topological Navigation through Place Recognition
Lauri Suomela, Jussi Kalliola, Harry Edelman +1
Recent results suggest that splitting topological navigation into robot-independent and robot-specific components improves navigation performance by enabling the robot-independent…