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03/24/2023
GAPSLAM: Blending Gaussian Approximation and Particle Filters for Real-Time Non-Gaussian SLAM
Inferring the posterior distribution in SLAM is critical for evaluating ...
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03/13/2023
NeuSE: Neural SE(3)-Equivariant Embedding for Consistent Spatial Understanding with Objects
We present NeuSE, a novel Neural SE(3)-Equivariant Embedding for objects...
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02/26/2023
Data-Association-Free Landmark-based SLAM
We study landmark-based SLAM with unknown data association: our robot na...
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02/22/2023
Certifiably Correct Range-Aided SLAM
We present the first algorithm capable of efficiently computing certifia...
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11/02/2022
Optimizing Fiducial Marker Placement for Improved Visual Localization
Adding fiducial markers to a scene is a well-known strategy for making v...
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10/24/2022
NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields
We propose a novel geometric and photometric 3D mapping pipeline for acc...
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10/06/2022
SCORE: A Second-Order Conic Initialization for Range-Aided SLAM
We present a novel initialization technique for the range-aided simultan...
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10/03/2022
Probabilistic Volumetric Fusion for Dense Monocular SLAM
We present a novel method to reconstruct 3D scenes from images by levera...
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08/01/2022
Robust Change Detection Based on Neural Descriptor Fields
The ability to reason about changes in the environment is crucial for ro...
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07/18/2022
PlaneSDF-based Change Detection for Long-term Dense Mapping
The ability to process environment maps across multiple sessions is crit...
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04/25/2022
Discrete-Continuous Smoothing and Mapping
We describe a general approach to smoothing and mapping with a class of ...
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03/25/2022
Spectral Measurement Sparsification for Pose-Graph SLAM
Simultaneous localization and mapping (SLAM) is a critical capability in...
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01/11/2022
Performance Guarantees for Spectral Initialization in Rotation Averaging and Pose-Graph SLAM
In this work we present the first initialization methods equipped with e...
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10/19/2021
Trajectory Prediction with Linguistic Representations
Language allows humans to build mental models that interpret what is hap...
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10/17/2021
TIP: Task-Informed Motion Prediction for Intelligent Systems
Motion prediction is important for intelligent driving systems, providin...
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10/05/2021
HYPER: Learned Hybrid Trajectory Prediction via Factored Inference and Adaptive Sampling
Modeling multi-modal high-level intent is important for ensuring diversi...
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10/02/2021
Online Incremental Non-Gaussian Inference for SLAM Using Normalizing Flows
This paper presents a novel non-Gaussian inference algorithm, Normalizin...
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09/22/2021
On Reference Solutions to Non-Gaussian SLAM Factor Graphs
Many real-world applications of simultaneous localization and mapping (S...
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08/03/2021
A Multi-Hypothesis Approach to Pose Ambiguity in Object-Based SLAM
In object-based Simultaneous Localization and Mapping (SLAM), 6D object ...
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07/20/2021
Consensus-Informed Optimization Over Mixtures for Ambiguity-Aware Object SLAM
Objects could often have multiple probable poses in single-shot measurem...
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05/11/2021
NF-iSAM: Incremental Smoothing and Mapping via Normalizing Flows
This paper presents a novel non-Gaussian inference algorithm, Normalizin...
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04/06/2021
Lidar-Monocular Surface Reconstruction Using Line Segments
Structure from Motion (SfM) often fails to estimate accurate poses in en...
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04/01/2021
A Front-End for Dense Monocular SLAM using a Learned Outlier Mask Prior
Recent achievements in depth prediction from a single RGB image have pow...
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03/19/2021
Bootstrapped Self-Supervised Training with Monocular Video for Semantic Segmentation and Depth Estimation
For a robot deployed in the world, it is desirable to have the ability o...
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03/08/2021
Advances in Inference and Representation for Simultaneous Localization and Mapping
Simultaneous localization and mapping (SLAM) is the process of construct...
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03/18/2020
CARPAL: Confidence-Aware Intent Recognition for Parallel Autonomy
Predicting the behavior of road agents is a difficult and crucial task f...
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11/28/2019
Diversity-Aware Vehicle Motion Prediction via Latent Semantic Sampling
Vehicle trajectory prediction is crucial for autonomous driving and adva...
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05/29/2017