6 papers
HOTFLoc++: End-to-End Hierarchical LiDAR Place Recognition, Re-Ranking, and 6-DoF Metric Localisation in Forests
Ethan Griffiths, Maryam Haghighat, Simon Denman +2
This article presents HOTFLoc++, an end-to-end hierarchical framework for LiDAR place recognition, re-ranking, and 6-DoF metric localisation in forests. Leveraging an octree-based…
Vision-Guided Loco-Manipulation with a Snake Robot
Adarsh Salagame, Sasank Potluri, Keshav Bharadwaj Vaidyanathan +4
This paper presents the development and integration of a vision-guided loco-manipulation pipeline for Northeastern University's snake robot, COBRA. The system leverages a YOLOv8-ba…
HOTFormerLoc: Hierarchical Octree Transformer for Versatile Lidar Place Recognition Across Ground and Aerial Views
Ethan Griffiths, Maryam Haghighat, Simon Denman +2
We present HOTFormerLoc, a novel and versatile Hierarchical Octree-based TransFormer, for large-scale 3D place recognition in both ground-to-ground and ground-to-aerial scenarios a…
Online 6DoF Global Localisation in Forests using Semantically-Guided Re-Localisation and Cross-View Factor-Graph Optimisation
Lucas Carvalho de Lima, Ethan Griffiths, Maryam Haghighat +5
This paper presents FGLoc6D, a novel approach for robust global localisation and online 6DoF pose estimation of ground robots in forest environments by leveraging deep semantically…
Reduced-Order Model-Based Gait Generation for Snake Robot Locomotion using NMPC
Adarsh Salagame, Eric Sihite, Milad Ramezani +1
This paper presents an optimization-based motion planning methodology for snake robots operating in constrained environments. By using a reduced-order model, the proposed approach…
WildScenes: A Benchmark for 2D and 3D Semantic Segmentation in Large-scale Natural Environments
Kavisha Vidanapathirana, Joshua Knights, Stephen Hausler +8
Recent progress in semantic scene understanding has primarily been enabled by the availability of semantically annotated bi-modal (camera and LiDAR) datasets in urban environments.…