25 citations · 28 across the 8 of their papers we have counts for
8 papers
EVPeriscope: Extended Perception across Aerial and Ground Vehicles with Event-based Propeller Tracking
Dexter Ong, Vijay Kumar, Pratik Chaudhari
Reliable relative localization between aerial and ground robots is a key requirement for tightly coordinated heterogeneous teams. This can be difficult to do using conventional fra…
HALO: High-Altitude Language-Conditioned Monocular Aerial Exploration and Navigation
Yuezhan Tao, Dexter Ong, Fernando Cladera +4
We demonstrate real-time high-altitude aerial metric-semantic mapping and exploration using a monocular camera paired with a global positioning system (GPS) and an inertial measure…
Gaussian Splatting as a Unified Representation for Autonomy in Unstructured Environments
Dexter Ong, Yuezhan Tao, Varun Murali +3
In this work, we argue that Gaussian splatting is a suitable unified representation for autonomous robot navigation in large-scale unstructured outdoor environments. Such environme…
Estimating the Diameter at Breast Height of Trees in a Forest from RGB
Siming He, Zachary Osman, Fernando Cladera +5
Forest inventories rely on accurate measurements of the diameter at breast height (DBH) for ecological monitoring, resource management, and carbon accounting. While LiDAR-based tec…
ATLAS Navigator: Active Task-driven LAnguage-embedded Gaussian Splatting
Dexter Ong, Yuezhan Tao, Varun Murali +3
We address the challenge of task-oriented navigation in unstructured and unknown environments, where robots must incrementally build and reason on informative metric-semantic maps…
SlideSLAM: Sparse, Lightweight, Decentralized Metric-Semantic SLAM for Multi-Robot Navigation
Xu Liu, Jiuzhou Lei, Ankit Prabhu +5
This paper develops a real-time decentralized metric-semantic SLAM algorithm that enables a heterogeneous robot team to collaboratively construct object-based metric-semantic maps.…
Learning to Explore Indoor Environments using Autonomous Micro Aerial Vehicles
Yuezhan Tao, Eran Iceland, Beiming Li +7
In this paper, we address the challenge of exploring unknown indoor aerial environments using autonomous aerial robots with Size Weight and Power (SWaP) constraints. The SWaP const…
3D Active Metric-Semantic SLAM
Yuezhan Tao, Xu Liu, Igor Spasojevic +2
In this letter, we address the problem of exploration and metric-semantic mapping of multi-floor GPS-denied indoor environments using Size Weight and Power (SWaP) constrained aeria…