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Robot Perception Lab's Projects

bevloc icon bevloc

BEVLoc: Off-Road Aerial-to-Ground Localization and Matching via Birds-Eye-View Synthesis

bevrender icon bevrender

BEVRender: Vision-based Cross-view Vehicle Registration in Off-road GNSS-denied Environment

cmu-gpr-dataset icon cmu-gpr-dataset

Dataset and utilities for research on localizing ground penetrating radar (GPR).

imesa icon imesa

[RSS 2024] iMESA - an incremental distributed algorithm for Collaborative Simultaneous Localization and Mapping

imesa-experiments icon imesa-experiments

[RSS 2024] Experiments for "iMESA: Incremental Distributed Optimization for Collaborative Simultaneous Localization and Mapping"

incopt icon incopt

Release code for InCOpt: Incremental Constrained Optimization using the Bayes Tree (IROS 2022)

mesa icon mesa

[ICRA 2024] MESA is a fully distributed, asynchronous, and general purpose optimization algorithm for Consensus Simultaneous Localization and Mapping (CSLAM).

neusis icon neusis

Release code for Neural Implicit Surface Reconstruction using Imaging Sonar (ICRA 2023)

risam icon risam

[ICRA 2023] Robust Incremental Smoothing and Mapping (riSAM) published in ICRA 2023

rose icon rose

Robust Offroad wheel odometry with Slip Estimation

shape-map-3d icon shape-map-3d

Visuo-tactile shape mapping with GelSight and depth camera

ycb-slide icon ycb-slide

Tactile perception dataset, comprising of the DIGIT sliding over YCB objects with ground-truth pose.

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