192 citations · 638 across the 26 of their papers we have counts for
4 papers · 1 filter
Gleanmer: A 6 mW SoC for Real-Time 3D Gaussian Occupancy Mapping
Zih-Sing Fu, Peter Zhi Xuan Li, Sertac Karaman +1
High-fidelity 3D occupancy mapping is essential for many edge-based applications (such as AR/VR and autonomous navigation) but is limited by power constraints. We present Gleanmer,…
GMMap: Memory-Efficient Continuous Occupancy Map Using Gaussian Mixture Model
Peter Zhi Xuan Li, Sertac Karaman, Vivienne Sze
Energy consumption of memory accesses dominates the compute energy in energy-constrained robots which require a compact 3D map of the environment to achieve autonomy. Recent mappin…
FSMI: Fast computation of Shannon Mutual Information for information-theoretic mapping
Zhengdong Zhang, Trevor Henderson, Sertac Karaman +1
Exploration tasks are embedded in many robotics applications, such as search and rescue and space exploration. Information-based exploration algorithms aim to find the most informa…
Navion: A 2mW Fully Integrated Real-Time Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones
Amr Suleiman, Zhengdong Zhang, Luca Carlone +2
This paper presents Navion, an energy-efficient accelerator for visual-inertial odometry (VIO) that enables autonomous navigation of miniaturized robots (e.g., nano drones), and vi…