3 papers
cs.RO2026
BLT*: Informed Belief Localization Trees for Uncertainty-Aware Planning on Digital Twins
Elliot Preston-Krebs, Abhishek Goudar, Timothy D. Barfoot
We present Informed Belief Localization Trees* (Informed BLT*), a sampling-based belief space planning (BSP) algorithm that scales to large outdoor digital twins with point-cloud o…
cs.RO2026
Boreas Road Trip: A Multi-Sensor Autonomous Driving Dataset on Challenging Roads
Daniil Lisus, Katya M. Papais, Cedric Le Gentil +4
The Boreas Road Trip (Boreas-RT) dataset extends the multi-season Boreas dataset to new and diverse locations that pose challenges for modern autonomous driving algorithms. Boreas-…
cs.RO2024
The Finer Points: A Systematic Comparison of Point-Cloud Extractors for Radar Odometry
Elliot Preston-Krebs, Daniil Lisus, Timothy D. Barfoot
A key element of many odometry pipelines using spinning frequency-modulated continuous-wave (FMCW) radar is the extraction of a point-cloud from the raw signal. This extraction gre…