b'Luca Carlone'

research

∙ 05/11/2023

Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems

3D spatial perception is the problem of building and maintaining an acti...

0 Nathan Hughes, et al. ∙

research

∙ 05/03/2023

Task-Aware Risk Estimation of Perception Failures for Autonomous Vehicles

Safety and performance are key enablers for autonomous driving: on the o...

0 Pasquale Antonante, et al. ∙

research

∙ 04/26/2023

Hydra-Multi: Collaborative Online Construction of 3D Scene Graphs with Multi-Robot Teams

3D scene graphs have recently emerged as an expressive high-level map re...

0 Yun Chang, et al. ∙

research

∙ 04/25/2023

Multi-Camera Visual-Inertial Simultaneous Localization and Mapping for Autonomous Valet Parking

Localization and mapping are key capabilities for self-driving vehicles....

0 Marcus Abate, et al. ∙

research

∙ 04/10/2023

Resilient and Distributed Multi-Robot Visual SLAM: Datasets, Experiments, and Lessons Learned

This paper revisits Kimera-Multi, a distributed multi-robot Simultaneous...

0 Yulun Tian, et al. ∙

research

∙ 02/26/2023

Data-Association-Free Landmark-based SLAM

We study landmark-based SLAM with unknown data association: our robot na...

0 Yihao Zhang, et al. ∙

research

∙ 02/16/2023

Vision-Based Terrain Relative Navigation on High-Altitude Balloon and Sub-Orbital Rocket

We present an experimental analysis on the use of a camera-based approac...

0 Dominic Maggio, et al. ∙

research

∙ 02/12/2023

A Correct-and-Certify Approach to Self-Supervise Object Pose Estimators via Ensemble Self-Training

Real-world robotics applications demand object pose estimation methods t...

2 Jingnan Shi, et al. ∙

research

∙ 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...

0 Antoni Rosinol, et al. ∙

research

∙ 10/03/2022

Probabilistic Volumetric Fusion for Dense Monocular SLAM

We present a novel method to reconstruct 3D scenes from images by levera...

23 Antoni Rosinol, et al. ∙

research

∙ 09/19/2022

Loc-NeRF: Monte Carlo Localization using Neural Radiance Fields

We present Loc-NeRF, a real-time vision-based robot localization approac...

0 Dominic Maggio, et al. ∙

research

∙ 09/13/2022

D-Lite: Navigation-Oriented Compression of 3D Scene Graphs under Communication Constraints

For a multi-robot team that collaboratively explores an unknown environm...

0 Yun Chang, et al. ∙

research

∙ 09/12/2022

Leveraging Large Language Models for Robot 3D Scene Understanding

Semantic 3D scene understanding is a problem of critical importance in r...

2 William Chen, et al. ∙

research

∙ 08/22/2022

Estimation Contracts for Outlier-Robust Geometric Perception

Outlier-robust estimation is a fundamental problem and has been extensiv...

0 Luca Carlone, et al. ∙

research

∙ 08/02/2022

Present and Future of SLAM in Extreme Underground Environments

This paper reports on the state of the art in underground SLAM by discus...

0 Kamak Ebadi, et al. ∙

research

∙ 07/01/2022

A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers

Active Simultaneous Localization and Mapping (SLAM) is the problem of pl...

0 Julio A. Placed, et al. ∙

research

∙ 06/24/2022

Optimal and Robust Category-level Perception: Object Pose and Shape Estimation from 2D and 3D Semantic Keypoints

We consider a category-level perception problem, where one is given 2D o...

7 Jingnan Shi, et al. ∙

research

∙ 06/22/2022

Correct and Certify: A New Approach to Self-Supervised 3D-Object Perception

We consider an object pose estimation and model fitting problem, where -...

2 Rajat Talak, et al. ∙

research

∙ 06/09/2022

Extracting Zero-shot Common Sense from Large Language Models for Robot 3D Scene Understanding

Semantic 3D scene understanding is a problem of critical importance in r...

12 William Chen, et al. ∙

research

∙ 06/01/2022

Visual Navigation for Autonomous Vehicles: An Open-source Hands-on Robotics Course at MIT

This paper reports on the development, execution, and open-sourcing of a...

0 Luca Carlone, et al. ∙

research

∙ 05/26/2022

LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments

Search and rescue with a team of heterogeneous mobile robots in unknown ...

0 Yun Chang, et al. ∙

research

∙ 05/24/2022

Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM

Multi-robot SLAM systems in GPS-denied environments require loop closure...

0 Christopher Denniston, et al. ∙

research

∙ 05/24/2022

LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time Underground 3D Mapping

Lidar odometry has attracted considerable attention as a robust localiza...

0 Andrzej Reinke, et al. ∙

research

∙ 05/22/2022

Monitoring of Perception Systems: Deterministic, Probabilistic, and Learning-based Fault Detection and Identification

This paper investigates runtime monitoring of perception systems. Percep...

0 Pasquale Antonante, et al. ∙

research

∙ 01/31/2022

Hydra: A Real-time Spatial Perception Engine for 3D Scene Graph Construction and Optimization

3D scene graphs have recently emerged as a powerful high-level represent...

0 Nathan Hughes, et al. ∙

research

∙ 09/25/2021

Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems

Robustness is key to engineering, automation, and science as a whole. Ho...

4 Amanda Prorok, et al. ∙

research

∙ 09/07/2021

Certifiable Outlier-Robust Geometric Perception: Exact Semidefinite Relaxations and Scalable Global Optimization

We propose the first general and scalable framework to design certifiabl...

11 Heng Yang, et al. ∙

research

∙ 08/06/2021

Computation and Communication Co-Design for Real-Time Monitoring and Control in Multi-Agent Systems

We investigate the problem of co-designing computation and communication...

0 Vishrant Tripathi, et al. ∙

research

∙ 08/06/2021

Smooth Mesh Estimation from Depth Data using Non-Smooth Convex Optimization

Meshes are commonly used as 3D maps since they encode the topology of th...

0 Antoni Rosinol, et al. ∙

research

∙ 08/02/2021

Hierarchical Representations and Explicit Memory: Learning Effective Navigation Policies on 3D Scene Graphs using Graph Neural Networks

Representations are crucial for a robot to learn effective navigation po...

5 Zachary Ravichandran, et al. ∙

research

∙ 06/28/2021

Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems

This paper presents Kimera-Multi, the first multi-robot system that (i) ...

2 Yulun Tian, et al. ∙

research

∙ 05/28/2021

STRIDE along Spectrahedral Vertices for Solving Large-Scale Rank-One Semidefinite Relaxations

We consider solving high-order semidefinite programming (SDP) relaxation...

0 Heng Yang, et al. ∙

research

∙ 05/15/2021

Neural Trees for Learning on Graphs

Graph Neural Networks (GNNs) have emerged as a flexible and powerful app...

13 Rajat Talak, et al. ∙

research

∙ 04/16/2021

Optimal Pose and Shape Estimation for Category-level 3D Object Perception

We consider a category-level perception problem, where one is given 3D s...

0 Jingnan Shi, et al. ∙

research

∙ 03/21/2021

NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge

This paper presents and discusses algorithms, hardware, and software arc...

11 Ali Agha, et al. ∙

research

∙ 03/11/2021

Dynamic Grasping with a "Soft" Drone: From Theory to Practice

Rigid grippers used in existing aerial manipulators require precise posi...

0 Joshua Fishman, et al. ∙

research

∙ 03/04/2021

Self-supervised Geometric Perception

We present self-supervised geometric perception (SGP), the first general...

16 Heng Yang, et al. ∙

research

∙ 02/05/2021

LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments

State estimation for robots navigating in GPS-denied and perceptually-de...

0 Andrea Tagliabue, et al. ∙

research

∙ 01/18/2021

Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs

Humans are able to form a complex mental model of the environment they m...

28 Antoni Rosinol, et al. ∙

research

∙ 11/08/2020

Kimera-Multi: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping

We present the first fully distributed multi-robot system for dense metr...

0 Yun Chang, et al. ∙

research

∙ 11/07/2020

ROBIN: a Graph-Theoretic Approach to Reject Outliers in Robust Estimation using Invariants

Many estimation problems in robotics, computer vision, and learning requ...

0 Jingnan Shi, et al. ∙

research

∙ 10/23/2020

Primal-Dual Mesh Convolutional Neural Networks

Recent works in geometric deep learning have introduced neural networks ...

0 Francesco Milano, et al. ∙

research

∙ 08/06/2020

Shonan Rotation Averaging: Global Optimality by Surfing SO(p)^n

Shonan Rotation Averaging is a fast, simple, and elegant rotation averag...

1 Frank Dellaert, et al. ∙

research

∙ 07/29/2020

Outlier-Robust Estimation: Hardness, Minimally-Tuned Algorithms, and Applications

Nonlinear estimation in robotics and vision is typically plagued with ou...

0 Pasquale Antonante, et al. ∙

research

∙ 06/11/2020

One Ring to Rule Them All: Certifiably Robust Geometric Perception with Outliers

We propose a general and practical framework to design certifiable algor...

0 Heng Yang, et al. ∙

research

∙ 05/24/2020

Monitoring and Diagnosability of Perception Systems

Perception is a critical component of high-integrity applications of rob...

0 Pasquale Antonante, et al. ∙

research

∙ 05/11/2020

Online Monitoring for Neural Network Based Monocular Pedestrian Pose Estimation

Several autonomy pipelines now have core components that rely on deep le...

10 Arjun Gupta, et al. ∙

research

∙ 04/08/2020

Control and Trajectory Optimization for Soft Aerial Manipulation

Manipulation and grasping with unmanned aerial vehicles (UAVs) currently...

0 Joshua Fishman, et al. ∙

research

∙ 03/16/2020

From Sensor to Processing Networks: Optimal Estimation with Computation and Communication Latency

This paper investigates the use of a networked system (e.g., swarm of ro...

0 Luca Ballotta, et al. ∙

research

∙ 03/03/2020

LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments

Simultaneous Localization and Mapping (SLAM) in large-scale, unknown, an...

0 Kamak Ebadi, et al. ∙

Luca Carlone

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