38 citations · 110 across the 22 of their papers we have counts for
4 papers · 1 filter
Incremental Non-Gaussian Inference for SLAM Using Normalizing Flows
Qiangqiang Huang, Can Pu, Kasra Khosoussi +4
This paper presents normalizing flows for incremental smoothing and mapping (NF-iSAM), a novel algorithm for inferring the full posterior distribution in SLAM problems with nonline…
NF-iSAM: Incremental Smoothing and Mapping via Normalizing Flows
Qiangqiang Huang, Can Pu, Dehann Fourie +3
This paper presents a novel non-Gaussian inference algorithm, Normalizing Flow iSAM (NF-iSAM), for solving SLAM problems with non-Gaussian factors and/or non-linear measurement mod…
Multi-Robot Distributed Semantic Mapping in Unfamiliar Environments through Online Matching of Learned Representations
Stewart Jamieson, Kaveh Fathian, Kasra Khosoussi +2
We present a solution to multi-robot distributed semantic mapping of novel and unfamiliar environments. Most state-of-the-art semantic mapping systems are based on supervised learn…
Non-Monotone Energy-Aware Information Gathering for Heterogeneous Robot Teams
Xiaoyi Cai, Brent Schlotfeldt, Kasra Khosoussi +3
This paper considers the problem of planning trajectories for a team of sensor-equipped robots to reduce uncertainty about a dynamical process. Optimizing the trade-off between inf…