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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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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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04/10/2023
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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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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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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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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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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09/09/2021
An Effective Parallel Program Debugging Approach Based on Timing Annotation
We propose an effective parallel program debugging approach based on the...
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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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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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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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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...
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10/06/2019
Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping
We provide an open-source C++ library for real-time metric-semantic visu...
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09/26/2019