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08/31/2023
Optical flow-based vascular respiratory motion compensation
This paper develops a new vascular respiratory motion compensation algor...
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05/23/2023
Convex Geometric Motion Planning on Lie Groups via Moment Relaxation
This paper reports a novel result: with proper robot models on matrix Li...
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05/15/2023
Convex Geometric Trajectory Tracking using Lie Algebraic MPC for Autonomous Marine Vehicles
Controlling marine vehicles in challenging environments is a complex tas...
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04/22/2023
Twilight SLAM: A Comparative Study of Low-Light Visual SLAM Pipelines
This paper presents a comparative study of low-light visual SLAM pipelin...
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01/31/2023
Fast and Noise-Resilient Magnetic Field Mapping on a Low-Cost UAV Using Gaussian Process Regression
This work presents a number of techniques to improve the ability to crea...
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01/22/2023
Moment-based Kalman Filter: Nonlinear Kalman Filtering with Exact Moment Propagation
This paper develops a new nonlinear filter, called Moment-based Kalman F...
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11/07/2022
Learning Task Requirements and Agent Capabilities for Multi-agent Task Allocation
This paper presents a learning framework to estimate an agent capability...
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09/29/2022
Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer
This paper develops a novel slip estimator using the invariant observer ...
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09/26/2022
Deep Convolutional Neural Network and Transfer Learning for Locomotion Intent Prediction
Powered prosthetic legs must anticipate the user's intent when switching...
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09/21/2022
Convolutional Bayesian Kernel Inference for 3D Semantic Mapping
Robotic perception is currently at a cross-roads between modern methods ...
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09/16/2022
SoLo T-DIRL: Socially-Aware Dynamic Local Planner based on Trajectory-Ranked Deep Inverse Reinforcement Learning
This work proposes a new framework for a socially-aware dynamic local pl...
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07/07/2022
Energy-based Legged Robots Terrain Traversability Modeling via Deep Inverse Reinforcement Learning
This work reports on developing a deep inverse reinforcement learning me...
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06/21/2022
Providers-Clients-Robots: Framework for spatial-semantic planning for shared understanding in human-robot interaction
This paper develops a novel framework called Providers-Clients-Robots (P...
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06/11/2022
E^2PN: Efficient SE(3)-Equivariant Point Network
This paper proposes a new point-cloud convolution structure that learns ...
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05/06/2022
BDIS: Bayesian Dense Inverse Searching Method for Real-Time Stereo Surgical Image Matching
In stereoscope-based Minimally Invasive Surgeries (MIS), dense stereo ma...
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04/20/2022
Lie Algebraic Cost Function Design for Control on Lie Groups
This paper presents a control framework on Lie groups by designing the c...
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03/16/2022
Input Influence Matrix Design for MIMO Discrete-Time Ultra-Local Model
Ultra-Local Models (ULM) have been applied to perform model-free control...
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03/16/2022
An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control
This paper reports on a new error-state Model Predictive Control (MPC) a...
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03/14/2022
MotionSC: Data Set and Network for Real-Time Semantic Mapping in Dynamic Environments
This work addresses a gap in semantic scene completion (SSC) data by cre...
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01/25/2022
Simultaneous Human-robot Matching and Routing for Multi-robot Tour Guiding under Time Uncertainty
This work presents a framework for multi-robot tour guidance in a partia...
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01/05/2022
Fusing Convolutional Neural Network and Geometric Constraint for Image-based Indoor Localization
This paper proposes a new image-based localization framework that explic...
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08/06/2021
Dynamic Semantic Occupancy Mapping using 3D Scene Flow and Closed-Form Bayesian Inference
This paper reports on a dynamic semantic mapping framework that incorpor...
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07/21/2021
Correspondence-Free Point Cloud Registration with SO(3)-Equivariant Implicit Shape Representations
This paper proposes a correspondence-free method for point cloud rotatio...
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06/29/2021
Deep Multi-Modal Contact Estimation for Invariant Observer Design on Quadruped Robots
This work reports on developing a deep learning-based contact estimator ...
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06/28/2021
Multi-Task Learning for Scalable and Dense Multi-Layer Bayesian Map Inference
This paper presents a novel and flexible multi-task multi-layer Bayesian...
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06/23/2021
Robust Task Scheduling for Heterogeneous Robot Teams under Capability Uncertainty
This paper develops a stochastic programming framework for multi-agent s...
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06/14/2021
Bayesian dense inverse searching algorithm for real-time stereo matching in minimally invasive surgery
This paper reports a CPU-level real-time stereo matching method for surg...
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03/26/2021
Toward Safety-Aware Informative Motion Planning for Legged Robots
This paper reports on developing an integrated framework for safety-awar...
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12/06/2020
Global Unifying Intrinsic Calibration for Spinning and Solid-State LiDARs
Sensor calibration, which can be intrinsic or extrinsic, is an essential...
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10/26/2020
A Path-Dependent Variational Framework for Incremental Information Gathering
Information gathered along a path is inherently submodular; the incremen...
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03/21/2020
Monocular Depth Prediction Through Continuous 3D Loss
This paper reports a new continuous 3D loss function for learning depth ...
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02/02/2020
DeepLocNet: Deep Observation Classification and Ranging Bias Regression for Radio Positioning Systems
WiFi technology has been used pervasively in fine-grained indoor localiz...
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01/08/2020
Nonparametric Continuous Sensor Registration
This paper develops a new mathematical framework that enables nonparamet...
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12/02/2019
A Keyframe-based Continuous Visual SLAM for RGB-D Cameras via Nonparametric Joint Geometric and Appearance Representation
This paper reports on a robust RGB-D SLAM system that performs well in s...
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10/01/2019
Adaptive Continuous Visual Odometry from RGB-D Images
In this paper, we extend the recently developed continuous visual odomet...
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09/10/2019
Bayesian Spatial Kernel Smoothing for ScalableDense Semantic Mapping
This paper develops a Bayesian continuous 3D semantic occupancy map from...
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08/23/2019
LiDARTag: A Real-Time Fiducial Tag using Point Clouds
Image-based fiducial markers are widely used in robotics and computer vi...
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06/18/2019
Characterizing the Uncertainty of Jointly Distributed Poses in the Lie Algebra
An accurate characterization of pose uncertainty is essential for safe a...
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04/19/2019
Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation
Legged robots require knowledge of pose and velocity in order to maintai...
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04/03/2019