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08/11/2023
Aggressive Aerial Grasping using a Soft Drone with Onboard Perception
Contrary to the stunning feats observed in birds of prey, aerial manipul...
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08/11/2023
VERF: Runtime Monitoring of Pose Estimation with Neural Radiance Fields
We present VERF, a collection of two methods (VERF-PnP and VERF-Light) f...
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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...
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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...
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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...
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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....
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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...
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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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02/16/2023
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...
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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...
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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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10/03/2022
Probabilistic Volumetric Fusion for Dense Monocular SLAM
We present a novel method to reconstruct 3D scenes from images by levera...
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09/19/2022
Loc-NeRF: Monte Carlo Localization using Neural Radiance Fields
We present Loc-NeRF, a real-time vision-based robot localization approac...
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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...
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09/12/2022
Leveraging Large Language Models for Robot 3D Scene Understanding
Semantic 3D scene understanding is a problem of critical importance in r...
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08/22/2022
Estimation Contracts for Outlier-Robust Geometric Perception
Outlier-robust estimation is a fundamental problem and has been extensiv...
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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...
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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...
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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...
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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 -...
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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...
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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...
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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 ...
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05/24/2022
Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM
Multi-robot SLAM systems in GPS-denied environments require loop closure...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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...
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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) ...
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05/28/2021
STRIDE along Spectrahedral Vertices for Solving Large-Scale Rank-One Semidefinite Relaxations
We consider solving high-order semidefinite programming (SDP) relaxation...
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05/15/2021
Neural Trees for Learning on Graphs
Graph Neural Networks (GNNs) have emerged as a flexible and powerful app...
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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...
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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...
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03/11/2021
Dynamic Grasping with a "Soft" Drone: From Theory to Practice
Rigid grippers used in existing aerial manipulators require precise posi...
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03/04/2021
Self-supervised Geometric Perception
We present self-supervised geometric perception (SGP), the first general...
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02/05/2021
LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments
State estimation for robots navigating in GPS-denied and perceptually-de...
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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...
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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...
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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...
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10/23/2020
Primal-Dual Mesh Convolutional Neural Networks
Recent works in geometric deep learning have introduced neural networks ...
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08/06/2020
Shonan Rotation Averaging: Global Optimality by Surfing SO(p)^n
Shonan Rotation Averaging is a fast, simple, and elegant rotation averag...
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07/29/2020
Outlier-Robust Estimation: Hardness, Minimally-Tuned Algorithms, and Applications
Nonlinear estimation in robotics and vision is typically plagued with ou...
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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...
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05/24/2020
Monitoring and Diagnosability of Perception Systems
Perception is a critical component of high-integrity applications of rob...
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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...
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04/08/2020