19 citations · 77 across the 23 of their papers we have counts for
7 papers · 1 filter
Revisiting LiDAR Registration and Reconstruction: A Range Image Perspective
Wei Dong, Kwonyoung Ryu, Michael Kaess +1
Spinning LiDAR data are prevalent for 3D vision tasks. Since LiDAR data is presented in the form of point clouds, expensive 3D operations are usually required. This paper revisits…
PatchGraph: In-hand tactile tracking with learned surface normals
Paloma Sodhi, Michael Kaess, Mustafa Mukadam +1
We address the problem of tracking 3D object poses from touch during in-hand manipulations. Specifically, we look at tracking small objects using vision-based tactile sensors that…
ASH: A Modern Framework for Parallel Spatial Hashing in 3D Perception
Wei Dong, Yixing Lao, Michael Kaess +1
We present ASH, a modern and high-performance framework for parallel spatial hashing on GPU. Compared to existing GPU hash map implementations, ASH achieves higher performance, sup…
ShapeMap 3-D: Efficient shape mapping through dense touch and vision
Sudharshan Suresh, Zilin Si, Joshua G. Mangelson +2
Knowledge of 3-D object shape is of great importance to robot manipulation tasks, but may not be readily available in unstructured environments. While vision is often occluded duri…
LEO: Learning Energy-based Models in Factor Graph Optimization
Paloma Sodhi, Eric Dexheimer, Mustafa Mukadam +2
We address the problem of learning observation models end-to-end for estimation. Robots operating in partially observable environments must infer latent states from multiple sensor…
CMU-GPR Dataset: Ground Penetrating Radar Dataset for Robot Localization and Mapping
Alexander Baikovitz, Paloma Sodhi, Michael Dille +1
There has been exciting recent progress in using radar as a sensor for robot navigation due to its increased robustness to varying environmental conditions. However, within these d…