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cs.RO2026
OptMap: Geometric Map Distillation via Submodular Maximization
David Thorne, Nathan Chan, Christa S. Robison +2
Autonomous robots rely on geometric maps to inform a diverse set of perception and decision-making algorithms. As autonomy requires reasoning and planning on multiple scales, each…
cs.RO2025
Submodular Optimization for Keyframe Selection & Usage in SLAM
David Thorne, Nathan Chan, Yanlong Ma +3
Keyframes are LiDAR scans saved for future reference in Simultaneous Localization And Mapping (SLAM), but despite their central importance most algorithms leave choices of which sc…
cs.RO2024
LiDAR Inertial Odometry And Mapping Using Learned Registration-Relevant Features
Zihao Dong, Jeff Pflueger, Leonard Jung +5
SLAM is an important capability for many autonomous systems, and modern LiDAR-based methods offer promising performance. However, for long duration missions, existing works that ei…