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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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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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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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06/01/2022
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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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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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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11/07/2020
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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02/15/2020
3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans
We present a unified representation for actionable spatial perception: 3...
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01/21/2020