202 citations · 552 across the 26 of their papers we have counts for
9 papers · 1 filter
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…
Simultaneous Localization and Layout Model Selection in Manhattan Worlds
Armon Shariati, Bernd Pfrommer, Camillo J. Taylor
In this paper, we will demonstrate how Manhattan structure can be exploited to transform the Simultaneous Localization and Mapping (SLAM) problem, which is typically solved by a no…
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…
Robust Fruit Counting: Combining Deep Learning, Tracking, and Structure from Motion
Xu Liu, Steven W. Chen, Shreyas Aditya +6
We present a novel fruit counting pipeline that combines deep segmentation, frame to frame tracking, and 3D localization to accurately count visible fruits across a sequence of ima…
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…