3.5k citations · 6.3k across the 74 of their papers we have counts for
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NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields
Antoni Rosinol, John J. Leonard, Luca Carlone
We propose a novel geometric and photometric 3D mapping pipeline for accurate and real-time scene reconstruction from monocular images. To achieve this, we leverage recent advances…
Probabilistic Volumetric Fusion for Dense Monocular SLAM
Antoni Rosinol, John J. Leonard, Luca Carlone
We present a novel method to reconstruct 3D scenes from images by leveraging deep dense monocular SLAM and fast uncertainty propagation. The proposed approach is able to 3D reconst…
Loc-NeRF: Monte Carlo Localization using Neural Radiance Fields
Dominic Maggio, Marcus Abate, Jingnan Shi +2
We present Loc-NeRF, a real-time vision-based robot localization approach that combines Monte Carlo localization and Neural Radiance Fields (NeRF). Our system uses a pre-trained Ne…
PyPose: A Library for Robot Learning with Physics-based Optimization
Chen Wang, Dasong Gao, Kuan Xu +34
Deep learning has had remarkable success in robotic perception, but its data-centric nature suffers when it comes to generalizing to ever-changing environments. By contrast, physic…
D-Lite: Navigation-Oriented Compression of 3D Scene Graphs for Multi-Robot Collaboration
Yun Chang, Luca Ballotta, Luca Carlone
For a multi-robot team that collaboratively explores an unknown environment, it is of vital importance that collected information is efficiently shared among robots in order to sup…
Present and Future of SLAM in Extreme Underground Environments
Kamak Ebadi, Lukas Bernreiter, Harel Biggie +28
This paper reports on the state of the art in underground SLAM by discussing different SLAM strategies and results across six teams that participated in the three-year-long SubT co…
Estimation Contracts for Outlier-Robust Geometric Perception
Luca Carlone
Outlier-robust estimation is a fundamental problem and has been extensively investigated by statisticians and practitioners. The last few years have seen a convergence across resea…
A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers
Julio A. Placed, Jared Strader, Henry Carrillo +4
Active Simultaneous Localization and Mapping (SLAM) is the problem of planning and controlling the motion of a robot to build the most accurate and complete model of the surroundin…
Extracting Zero-shot Common Sense from Large Language Models for Robot 3D Scene Understanding
William Chen, Siyi Hu, Rajat Talak +1
Semantic 3D scene understanding is a problem of critical importance in robotics. While significant advances have been made in simultaneous localization and mapping algorithms, robo…
LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time Underground 3D Mapping
Andrzej Reinke, Matteo Palieri, Benjamin Morrell +4
Lidar odometry has attracted considerable attention as a robust localization method for autonomous robots operating in complex GNSS-denied environments. However, achieving reliable…
Optimal and Robust Category-level Perception: Object Pose and Shape Estimation from 2D and 3D Semantic Keypoints
Jingnan Shi, Heng Yang, Luca Carlone
We consider a category-level perception problem, where one is given 2D or 3D sensor data picturing an object of a given category (e.g., a car), and has to reconstruct the 3D pose a…
Certifiable 3D Object Pose Estimation: Foundations, Learning Models, and Self-Training
Rajat Talak, Lisa Peng, Luca Carlone
We consider a certifiable object pose estimation problem, where -- given a partial point cloud of an object -- the goal is to not only estimate the object pose, but also to provide…
Visual Navigation for Autonomous Vehicles: An Open-source Hands-on Robotics Course at MIT
Luca Carlone, Kasra Khosoussi, Vasileios Tzoumas +5
This paper reports on the development, execution, and open-sourcing of a new robotics course at MIT. The course is a modern take on "Visual Navigation for Autonomous Vehicles" (VNA…
Monitoring of Perception Systems: Deterministic, Probabilistic, and Learning-based Fault Detection and Identification
Pasquale Antonante, Heath Nilsen, Luca Carlone
This paper investigates runtime monitoring of perception systems. Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self…
LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments
Yun Chang, Kamak Ebadi, Christopher E. Denniston +9
Search and rescue with a team of heterogeneous mobile robots in unknown and large-scale underground environments requires high-precision localization and mapping. This crucial requ…
Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM
Christopher E. Denniston, Yun Chang, Andrzej Reinke +5
Multi-robot SLAM systems in GPS-denied environments require loop closures to maintain a drift-free centralized map. With an increasing number of robots and size of the environment,…
Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization
Nathan Hughes, Yun Chang, Luca Carlone
3D scene graphs have recently emerged as a powerful high-level representation of 3D environments. A 3D scene graph describes the environment as a layered graph where nodes represen…