1.5k citations · 2k across the 42 of their papers we have counts for
47 papers
FAST-Sync: Fast Group Synchronization for any Matrix Lie Group
Shane Holmes, Yiran Luo, Firat Taxpulat +2
Group synchronization (GS) is the problem of estimating a set of unknown elements in a group , given noisy measurements of a subs…
Equivariant Filter Design for Acoustic and Depth Aided Inertial Navigation Systems
Arihant Lunawat, Pieter van Goor, Frank Dellaert +1
Autonomous Underwater Vehicles (AUVs) navigating without GPS typically fuse inertial measurements with acoustic Doppler Velocity Log (DVL) velocities and pressure-derived depth. Po…
Uncertainty-driven 3D Gaussian Splatting Active Mapping via Anisotropic Visibility Field
Shangjie Xue, Jesse Dill, Dhruv Ahuja +3
We present Gaussian Splatting Anisotropic Visibility Field (GAVIS), a novel framework for uncertainty quantification and active mapping in 3DGS. Our key insight is that regions uns…
Variable Elimination in Hybrid Factor Graphs for Discrete-Continuous Inference & Estimation
Varun Agrawal, Frank Dellaert
Many problems in robotics involve both continuous and discrete components, and modeling them together for estimation tasks has been a long standing and difficult problem. Hybrid Fa…
SALVe: Semantic Alignment Verification for Floorplan Reconstruction from Sparse Panoramas
John Lambert, Yuguang Li, Ivaylo Boyadzhiev +6
We propose a new system for automatic 2D floorplan reconstruction that is enabled by SALVe, our novel pairwise learned alignment verifier. The inputs to our system are sparsely loc…
Neural Visibility Field for Uncertainty-Driven Active Mapping
Shangjie Xue, Jesse Dill, Pranay Mathur +3
This paper presents Neural Visibility Field (NVF), a novel uncertainty quantification method for Neural Radiance Fields (NeRF) applied to active mapping. Our key insight is that re…