202 citations · 552 across the 26 of their papers we have counts for
31 papers
EV-Catcher: High-Speed Object Catching Using Low-latency Event-based Neural Networks
Ziyun Wang, Fernando Cladera Ojeda, Anthony Bisulco +6
Event-based sensors have recently drawn increasing interest in robotic perception due to their lower latency, higher dynamic range, and lower bandwidth requirements compared to sta…
Hierarchical Relationships: A New Perspective to Enhance Scene Graph Generation
Bowen Jiang, Camillo J. Taylor
This paper presents a finding that leveraging the hierarchical structures among labels for relationships and objects can substantially improve the performance of scene graph genera…
Active Metric-Semantic Mapping by Multiple Aerial Robots
Xu Liu, Ankit Prabhu, Fernando Cladera +4
Traditional approaches for active mapping focus on building geometric maps. For most real-world applications, however, actionable information is related to semantically meaningful…
Stronger Together: Air-Ground Robotic Collaboration Using Semantics
Ian D. Miller, Fernando Cladera, Trey Smith +2
In this work, we present an end-to-end heterogeneous multi-robot system framework where ground robots are able to localize, plan, and navigate in a semantic map created in real tim…
Any Way You Look At It: Semantic Crossview Localization and Mapping with LiDAR
Ian D. Miller, Anthony Cowley, Ravi Konkimalla +5
Currently, GPS is by far the most popular global localization method. However, it is not always reliable or accurate in all environments. SLAM methods enable local state estimation…
DSOL: A Fast Direct Sparse Odometry Scheme
Chao Qu, Shreyas S. Shivakumar, Ian D. Miller +1
In this paper, we describe Direct Sparse Odometry Lite (DSOL), an improved version of Direct Sparse Odometry (DSO). We propose several algorithmic and implementation enhancements w…
Fast Footstep Planning on Uneven Terrain Using Deep Sequential Models
Hersh Sanghvi, Camillo Jose Taylor
One of the fundamental challenges in realizing the potential of legged robots is generating plans to traverse challenging terrains. Control actions must be carefully selected so th…
LLOL: Low-Latency Odometry for Spinning Lidars
Chao Qu, Shreyas S. Shivakumar, Wenxin Liu +1
In this paper, we present a low-latency odometry system designed for spinning lidars. Many existing lidar odometry methods wait for an entire sweep from the lidar before processing…
Large-scale Autonomous Flight with Real-time Semantic SLAM under Dense Forest Canopy
Xu Liu, Guilherme V. Nardari, Fernando Cladera Ojeda +8
Semantic maps represent the environment using a set of semantically meaningful objects. This representation is storage-efficient, less ambiguous, and more informative, thus facilit…
Bayesian Deep Basis Fitting for Depth Completion with Uncertainty
Chao Qu, Wenxin Liu, Camillo J. Taylor
In this work we investigate the problem of uncertainty estimation for image-guided depth completion. We extend Deep Basis Fitting (DBF) for depth completion within a Bayesian evide…
UPSLAM: Union of Panoramas SLAM
Anthony Cowley, Ian D. Miller, Camillo Jose Taylor
We present an empirical investigation of a new mapping system based on a graph of panoramic depth images. Panoramic images efficiently capture range measurements taken by a spinnin…
PennSyn2Real: Training Object Recognition Models without Human Labeling
Ty Nguyen, Ian D. Miller, Avi Cohen +5
Scalable training data generation is a critical problem in deep learning. We propose PennSyn2Real - a photo-realistic synthetic dataset consisting of more than 100,000 4K images of…
Depth Completion via Deep Basis Fitting
Chao Qu, Ty Nguyen, Camillo J. Taylor
In this paper we consider the task of image-guided depth completion where our system must infer the depth at every pixel of an input image based on the image content and a sparse s…
PST900: RGB-Thermal Calibration, Dataset and Segmentation Network
Shreyas S. Shivakumar, Neil Rodrigues, Alex Zhou +3
In this work we propose long wave infrared (LWIR) imagery as a viable supporting modality for semantic segmentation using learning-based techniques. We first address the problem of…
Mine Tunnel Exploration using Multiple Quadrupedal Robots
Ian D. Miller, Fernando Cladera, Anthony Cowley +11
Robotic exploration of underground environments is a particularly challenging problem due to communication, endurance, and traversability constraints which necessitate high degrees…
Vision-based Multi-MAV Localization with Anonymous Relative Measurements Using Coupled Probabilistic Data Association Filter
Ty Nguyen, Kartik Mohta, Camillo J. Taylor +1
We address the localization of robots in a multi-MAV system where external infrastructure like GPS or motion capture systems may not be available. Our approach lends itself to impl…
MAVNet: an Effective Semantic Segmentation Micro-Network for MAV-based Tasks
Ty Nguyen, Shreyas S. Shivakumar, Ian D. Miller +9
Real-time semantic image segmentation on platforms subject to size, weight and power (SWaP) constraints is a key area of interest for air surveillance and inspection. In this work,…
DFineNet: Ego-Motion Estimation and Depth Refinement from Sparse, Noisy Depth Input with RGB Guidance
Yilun Zhang, Ty Nguyen, Ian D. Miller +4
Depth estimation is an important capability for autonomous vehicles to understand and reconstruct 3D environments as well as avoid obstacles during the execution. Accurate depth se…
DFuseNet: Deep Fusion of RGB and Sparse Depth Information for Image Guided Dense Depth Completion
Shreyas S. Shivakumar, Ty Nguyen, Ian D. Miller +3
In this paper we propose a convolutional neural network that is designed to upsample a series of sparse range measurements based on the contextual cues gleaned from a high resoluti…
Predictive and Semantic Layout Estimation for Robotic Applications in Manhattan Worlds
Armon Shariati, Bernd Pfrommer, Camillo J. Taylor
This paper describes an approach to automatically extracting floor plans from the kinds of incomplete measurements that could be acquired by an autonomous mobile robot. The approac…
Monocular Camera Based Fruit Counting and Mapping with Semantic Data Association
Xu Liu, Steven W. Chen, Chenhao Liu +5
We present a cheap, lightweight, and fast fruit counting pipeline that uses a single monocular camera. Our pipeline that relies only on a monocular camera, achieves counting perfor…
Real Time Dense Depth Estimation by Fusing Stereo with Sparse Depth Measurements
Shreyas S. Shivakumar, Kartik Mohta, Bernd Pfrommer +2
We present an approach to depth estimation that fuses information from a stereo pair with sparse range measurements derived from a LIDAR sensor or a range camera. The goal of this…
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…
U-Net for MAV-based Penstock Inspection: an Investigation of Focal Loss in Multi-class Segmentation for Corrosion Identification
Ty Nguyen, Tolga Ozaslan, Ian D. Miller +7
Periodical inspection and maintenance of critical infrastructure such as dams, penstocks, and locks are of significant importance to prevent catastrophic failures. Conventional man…