27 citations · 67 across the 22 of their papers we have counts for
11 papers · 1 filter
The Bare Necessities: Designing Simple, Effective Open-Vocabulary Scene Graphs
Christina Kassab, Matías Mattamala, Sacha Morin +4
3D open-vocabulary scene graph methods are a promising map representation for embodied agents, however many current approaches are computationally expensive. In this paper, we reex…
The Oxford Spires Dataset: Benchmarking Large-Scale LiDAR-Visual Localisation, Reconstruction and Radiance Field Methods
Yifu Tao, Miguel Ángel Muñoz-Bañón, Lintong Zhang +3
This paper introduces a large-scale multi-modal dataset captured in and around well-known landmarks in Oxford using a custom-built multi-sensor perception unit as well as a millime…
Markerless Aerial-Terrestrial Co-Registration of Forest Point Clouds using a Deformable Pose Graph
Benoit Casseau, Nived Chebrolu, Matias Mattamala +2
For biodiversity and forestry applications, end-users desire maps of forests that are fully detailed, from the forest floor to the canopy. Terrestrial laser scanning and aerial las…
Visual Localization in 3D Maps: Comparing Point Cloud, Mesh, and NeRF Representations
Lintong Zhang, Yifu Tao, Jiarong Lin +2
Recent advances in mapping techniques have enabled the creation of highly accurate dense 3D maps during robotic missions, such as point clouds, meshes, or NeRF-based representation…
Autonomous Forest Inventory with Legged Robots: System Design and Field Deployment
Matías Mattamala, Nived Chebrolu, Benoit Casseau +5
We present a solution for autonomous forest inventory with a legged robotic platform. Compared to their wheeled and aerial counterparts, legged platforms offer an attractive balanc…
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…
SiLVR: Scalable Lidar-Visual Reconstruction with Neural Radiance Fields for Robotic Inspection
Yifu Tao, Yash Bhalgat, Lanke Frank Tarimo Fu +3
We present a neural-field-based large-scale reconstruction system that fuses lidar and vision data to generate high-quality reconstructions that are geometrically accurate and capt…
LiSTA: Geometric Object-Based Change Detection in Cluttered Environments
Joseph Rowell, Lintong Zhang, Maurice Fallon
We present LiSTA (LiDAR Spatio-Temporal Analysis), a system to detect probabilistic object-level change over time using multi-mission SLAM. Many applications require such a system,…
Online Tree Reconstruction and Forest Inventory on a Mobile Robotic System
Leonard Freißmuth, Matias Mattamala, Nived Chebrolu +3
Terrestrial laser scanning (TLS) is the standard technique used to create accurate point clouds for digital forest inventories. However, the measurement process is demanding, requi…
Evaluation and Deployment of LiDAR-based Place Recognition in Dense Forests
Haedam Oh, Nived Chebrolu, Matias Mattamala +2
Many LiDAR place recognition systems have been developed and tested specifically for urban driving scenarios. Their performance in natural environments such as forests and woodland…
Exosense: A Vision-Based Scene Understanding System For Exoskeletons
Jianeng Wang, Matias Mattamala, Christina Kassab +5
Self-balancing exoskeletons are a key enabling technology for individuals with mobility impairments. While the current challenges focus on human-compliant hardware and control, unl…