142 citations · 712 across the 76 of their papers we have counts for
5 papers · 1 filter
Sparse-to-Dense: Depth Prediction from Sparse Depth Samples and a Single Image
Fangchang Ma, Sertac Karaman
We consider the problem of dense depth prediction from a sparse set of depth measurements and a single RGB image. Since depth estimation from monocular images alone is inherently a…
CDDT: Fast Approximate 2D Ray Casting for Accelerated Localization
Corey Walsh, Sertac Karaman
Localization is an essential component for autonomous robots. A well-established localization approach combines ray casting with a particle filter, leading to a computationally exp…
On Sensing, Agility, and Computation Requirements for a Data-gathering Agile Robotic Vehicle
Fangchang Ma, Sertac Karaman
We consider a robotic vehicle tasked with gathering information by visiting a set of spatially-distributed data sources, the locations of which are not known a priori, but are disc…
Sparse Depth Sensing for Resource-Constrained Robots
Fangchang Ma, Luca Carlone, Ulas Ayaz +1
We consider the case in which a robot has to navigate in an unknown environment but does not have enough on-board power or payload to carry a traditional depth sensor (e.g., a 3D l…
Capacity and Delay Scaling for Broadcast Transmission in Highly Mobile Wireless Networks
Rajat Talak, Sertac Karaman, Eytan Modiano
We study broadcast capacity and minimum delay scaling laws for highly mobile wireless networks, in which each node has to disseminate or broadcast packets to all other nodes in the…