84 citations · 309 across the 35 of their papers we have counts for
38 papers
NeRFifyMesh: Optimizing Neural Radiance Fields from Textured Meshes for Robotics Scene Building
Nillan Nimal, Mahboubeh Asadi, Sajad Saeedi
In robotics, scene representation plays a pivotal role in understanding and interacting with the environment. The advent of Neural Radiance Fields (NeRF) and its variants, as a nov…
H-SPAR: Hydrodynamic-aware Simulation for Particle Transport and Autonomous Robots
Navid Zarrabi, Nariman Yousefi, Sajad Saeedi
Environmental robotic sampling requires considering the dual influence of water currents on robotic motion and particle transport. Existing marine robotics simulators generally mod…
Pow3R-SLAM: Real-Time RGB-D SLAM with 3D Reconstruction Priors
Christopher Kolios, Ishaan Mehta, Sasa Janjic +2
We present Pow3R-SLAM, a real-time RGB-D simultaneous localization and mapping (SLAM) system that uses Pow3R for tracking and mapping. Inspired by MASt3R-SLAM, a recent work on mon…
An Exact Generalized k-Cell Decomposition
Yeganeh Bahoo, Sajad Saeedi, Roni Sherman
This paper introduces an exact -cell decomposition for visibility planning in polygonal environments for agents equipped with -modems, devices that can see through up to …
MVOFormer: Flow-Semantic Transformer for Robust Monocular Visual Odometry
Jituo Li, Shunwang Sun, Jialu Zhang +5
Monocular visual odometry (MVO) is foundational to autonomous navigation and robotic localization. However, existing learning-based MVO approaches often struggle with either a lack…
Generalized k-Cell Decomposition for Visibility Planning in Polygons
Yeganeh Bahoo, Sajad Saeedi, Roni Sherman
This paper introduces a novel -cell decomposition method for pursuit-evasion problems in polygonal environments, where a searcher is equipped with a -modem: a device capable…
TCB-VIO: Tightly-Coupled Focal-Plane Binary-Enhanced Visual Inertial Odometry
Matthew Lisondra, Junseo Kim, Glenn Takashi Shimoda +2
Vision algorithms can be executed directly on the image sensor when implemented on the next-generation sensors known as focal-plane sensor-processor arrays (FPSP)s, where every pix…
Phenology-based learning framework for yield estimation and harvest forecasting of raspberry fruits
Parham Jafary, Lesley G. Campbell, Anna Bazangeya +4
The future of agriculture is intertwined with automation. Accurate fruit detection, yield estimation, and harvest time prediction are crucial for efficient supply chain management…
FG-PE: Factor-graph Approach for Multi-robot Pursuit-Evasion
Messiah Abolfazli Esfahani, Ayşe Başar, Sajad Saeedi
With the increasing use of robots in daily life, there is a growing need to provide robust collaboration protocols for robots to tackle more complicated and dynamic problems effect…
Morphological Detection and Classification of Microplastics and Nanoplastics Emerged from Consumer Products by Deep Learning
Hadi Rezvani, Navid Zarrabi, Ishaan Mehta +5
Plastic pollution presents an escalating global issue, impacting health and environmental systems, with micro- and nanoplastics found across mediums from potable water to air. Trad…
Inverse k-visibility for RSSI-based Indoor Geometric Mapping
Junseo Kim, Matthew Lisondra, Yeganeh Bahoo +1
In recent years, the increased availability of WiFi in indoor environments has gained interest in the robotics community to utilize WiFi signals for indoor simultaneous localizatio…
Identifying Optimal Launch Sites of High-Altitude Latex-Balloons using Bayesian Optimisation for the Task of Station-Keeping
Jack Saunders, Sajad Saeedi, Adam Hartshorne +4
Station-keeping tasks for high-altitude balloons show promise in areas such as ecological surveys, atmospheric analysis, and communication relays. However, identifying the optimal…
DPPE: Dense Pose Estimation in a Plenoxels Environment using Gradient Approximation
Christopher Kolios, Yeganeh Bahoo, Sajad Saeedi
We present DPPE, a dense pose estimation algorithm that functions over a Plenoxels environment. Recent advances in neural radiance field techniques have shown that it is a powerful…
Visual Inertial Odometry using Focal Plane Binary Features (BIT-VIO)
Matthew Lisondra, Junseo Kim, Riku Murai +2
Focal-Plane Sensor-Processor Arrays (FPSP)s are an emerging technology that can execute vision algorithms directly on the image sensor. Unlike conventional cameras, FPSPs perform c…
Structure from WiFi (SfW): RSSI-based Geometric Mapping of Indoor Environments
Junseo Kim, Jill Aghyourli Zalat, Yeganeh Bahoo +1
With the rising prominence of WiFi in common spaces, efforts have been made in the robotics community to take advantage of this fact by incorporating WiFi signal measurements in in…
M^3RS: Multi-robot, Multi-objective, and Multi-mode Routing and Scheduling
Ishaan Mehta, Junseo Kim, Sharareh Taghipour +1
Task execution quality significantly impacts multi-robot missions, yet existing task allocation frameworks rarely consider quality of service as a decision variable, despite its im…
DIO: Dataset of 3D Mesh Models of Indoor Objects for Robotics and Computer Vision Applications
Nillan Nimal, Wenbin Li, Ronald Clark +1
The creation of accurate virtual models of real-world objects is imperative to robotic simulations and applications such as computer vision, artificial intelligence, and machine le…
Sensor Integration and Performance Optimizations for Mineral Exploration using Large-scale Hybrid Multirotor UAVs
Robel Efrem, Alex Coutu, Sajad Saeedi
In this paper, the focus is on improving the efficiency and precision of mineral data collection using UAVs by addressing key challenges associated with sensor integration. These c…
Suspended Magnetometer Survey for Mineral Data Acquisition with Vertical Take-off and Landing Fixed-wing Aircraft
Robel Efrem, Alex Coutu, Sajad Saeedi
Multirotor Unmanned Aerial Vehicles (UAV)s have recently become an important instrument for collecting mineral data, enabling more effective and accurate geological investigations.…
Di-NeRF: Distributed NeRF for Collaborative Learning with Relative Pose Refinement
Mahboubeh Asadi, Kourosh Zareinia, Sajad Saeedi
Collaborative mapping of unknown environments can be done faster and more robustly than a single robot. However, a collaborative approach requires a distributed paradigm to be scal…
MR.CAP: Multi-Robot Joint Control and Planning for Object Transport
Hussein Ali Jaafar, Cheng-Hao Kao, Sajad Saeedi
With the recent influx in demand for multi-robot systems throughout industry and academia, there is an increasing need for faster, robust, and generalizable path planning algorithm…
Parallel Reinforcement Learning Simulation for Visual Quadrotor Navigation
Jack Saunders, Sajad Saeedi, Wenbin Li
Reinforcement learning (RL) is an agent-based approach for teaching robots to navigate within the physical world. Gathering data for RL is known to be a laborious task, and real-wo…
Systematic Comparison of Path Planning Algorithms using PathBench
Hao-Ya Hsueh, Alexandru-Iosif Toma, Hussein Ali Jaafar +4
Path planning is an essential component of mobile robotics. Classical path planning algorithms, such as wavefront and rapidly-exploring random tree (RRT) are used heavily in autono…
Far-UVC Disinfection with Robotic Mobile Manipulator
Ishaan Mehta, Hao-Ya Hsueh, Nikolaos Kourtzanidis +2
The COVID-19 pandemic has demonstrated the need for a more effective and efficient disinfection approach to combat infectious diseases. Ultraviolet germicidal irradiation (UVGI) is…