13 citations · 30 across the 8 of their papers we have counts for
6 papers · 1 filter
LOSS-SLAM: Lightweight Open-Set Semantic Simultaneous Localization and Mapping
Kurran Singh, Tim Magoun, John J. Leonard
Enabling robots to understand the world in terms of objects is a critical building block towards higher level autonomy. The success of foundation models in vision has created the a…
Data-Association-Free Landmark-based SLAM
Yihao Zhang, Odin A. Severinsen, John J. Leonard +2
We study landmark-based SLAM with unknown data association: our robot navigates in a completely unknown environment and has to simultaneously reason over its own trajectory, the po…
Robust Change Detection Based on Neural Descriptor Fields
Jiahui Fu, Yilun Du, Kurran Singh +2
The ability to reason about changes in the environment is crucial for robots operating over extended periods of time. Agents are expected to capture changes during operation so tha…
PlaneSDF-based Change Detection for Long-term Dense Mapping
Jiahui Fu, Chengyuan Lin, Yuichi Taguchi +4
The ability to process environment maps across multiple sessions is critical for robots operating over extended periods of time. Specifically, it is desirable for autonomous agents…
SE-Sync: A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group
David M. Rosen, Luca Carlone, Afonso S. Bandeira +1
Many important geometric estimation problems take the form of synchronization over the special Euclidean group: estimate the values of a set of poses given a set of relative measur…
A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group
David M. Rosen, Luca Carlone, Afonso S. Bandeira +1
Many geometric estimation problems take the form of synchronization over the special Euclidean group: estimate the values of a set of poses given noisy measurements of a subset of…