41 citations · 120 across the 37 of their papers we have counts for
8 papers · 1 filter
Listen to Your Map: An Online Representation for Spatial Sonification
Lan Wu, Craig Jin, Monisha Mushtary Uttsha +1
Robotic perception is becoming a key technology for navigation aids, especially helping individuals with visual impairments through spatial sonification. This paper introduces a ma…
Gaussian Process Distance Fields Obstacle and Ground Constraints for Safe Navigation
Monisha Mushtary Uttsha, Cedric Le Gentil, Lan Wu +1
Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which fa…
Real-Time Truly-Coupled Lidar-Inertial Motion Correction and Spatiotemporal Dynamic Object Detection
Cedric Le Gentil, Raphael Falque, Teresa Vidal-Calleja
Over the past decade, lidars have become a cornerstone of robotics state estimation and perception thanks to their ability to provide accurate geometric information about their sur…
DynORecon: Dynamic Object Reconstruction for Navigation
Yiduo Wang, Jesse Morris, Lan Wu +2
This paper presents DynORecon, a Dynamic Object Reconstruction system that leverages the information provided by Dynamic SLAM to simultaneously generate a volumetric map of observe…
Mixing Data-driven and Geometric Models for Satellite Docking Port State Estimation using an RGB or Event Camera
Cedric Le Gentil, Jack Naylor, Nuwan Munasinghe +5
In-orbit automated servicing is a promising path towards lowering the cost of satellite operations and reducing the amount of orbital debris. For this purpose, we present a pipelin…
Safe Bubble Cover for Motion Planning on Distance Fields
Ki Myung Brian Lee, Zhirui Dai, Cedric Le Gentil +3
We consider the problem of planning collision-free trajectories on distance fields. Our key observation is that querying a distance field at one configuration reveals a region of s…
VDB-GPDF: Online Gaussian Process Distance Field with VDB Structure
Lan Wu, Cedric Le Gentil, Teresa Vidal-Calleja
Robots reason about the environment through dedicated representations. Popular choices for dense representations exploit Truncated Signed Distance Functions (TSDF) and Octree data…
Interactive Distance Field Mapping and Planning to Enable Human-Robot Collaboration
Usama Ali, Lan Wu, Adrian Mueller +3
Human-robot collaborative applications require scene representations that are kept up-to-date and facilitate safe motions in dynamic scenes. In this letter, we present an interacti…