202 citations · 246 across the 10 of their papers we have counts for
5 papers · 1 filter
Stochastic 2-D Motion Planning with a POMDP Framework
Ke Sun, Vijay Kumar
Motion planning is challenging when it comes to the case of imperfect state information. Decision should be made based on belief state which evolves according to the noise from the…
The Open Vision Computer: An Integrated Sensing and Compute System for Mobile Robots
Morgan Quigley, Kartik Mohta, Shreyas S. Shivakumar +8
In this paper we describe the Open Vision Computer (OVC) which was designed to support high speed, vision guided autonomous drone flight. In particular our aim was to develop a sys…
Experiments in Fast, Autonomous, GPS-Denied Quadrotor Flight
Kartik Mohta, Ke Sun, Sikang Liu +6
High speed navigation through unknown environments is a challenging problem in robotics. It requires fast computation and tight integration of all the subsystems on the robot such…
Dense 3-D Mapping with Spatial Correlation via Gaussian Filtering
Ke Sun, Kelsey Saulnier, Nikolay Atanasov +2
Constructing an occupancy representation of the environment is a fundamental problem for robot autonomy. Many accurate and efficient methods exist that address this problem but mos…
Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight
Ke Sun, Kartik Mohta, Bernd Pfrommer +5
In recent years, vision-aided inertial odometry for state estimation has matured significantly. However, we still encounter challenges in terms of improving the computational effic…