11 citations · 13 across the 11 of their papers we have counts for
5 papers · 1 filter
Efficient Submap-based Autonomous MAV Exploration using Visual-Inertial SLAM Configurable for LiDARs or Depth Cameras
Sotiris Papatheodorou, Simon Boche, Sebastián Barbas Laina +1
Autonomous exploration of unknown space is an essential component for the deployment of mobile robots in the real world. Safe navigation is crucial for all robotics applications an…
Uncertainty-Aware Visual-Inertial SLAM with Volumetric Occupancy Mapping
Jaehyung Jung, Simon Boche, Sebastián Barbas Laina +1
We propose visual-inertial simultaneous localization and mapping that tightly couples sparse reprojection errors, inertial measurement unit pre-integrals, and relative pose factors…
SOLVR: Submap Oriented LiDAR-Visual Re-Localisation
Joshua Knights, Sebastián Barbas Laina, Peyman Moghadam +1
This paper proposes SOLVR, a unified pipeline for learning based LiDAR-Visual re-localisation which performs place recognition and 6-DoF registration across sensor modalities. We p…
Tightly-Coupled LiDAR-Visual-Inertial SLAM and Large-Scale Volumetric Occupancy Mapping
Simon Boche, Sebastián Barbas Laina, Stefan Leutenegger
Autonomous navigation is one of the key requirements for every potential application of mobile robots in the real-world. Besides high-accuracy state estimation, a suitable and glob…
Scalable Outdoors Autonomous Drone Flight with Visual-Inertial SLAM and Dense Submaps Built without LiDAR
Sebastián Barbas Laina, Simon Boche, Sotiris Papatheodorou +4
Autonomous navigation is needed for several robotics applications. In this paper we present an autonomous Micro Aerial Vehicle (MAV) system which purely relies on cost-effective an…