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Freetures: Localization in Signed Distance Function Maps


Oct 21, 2020
Alexander Millane, Helen Oleynikova, Christian Lanegger, Jeff Delmerico, Juan Nieto, Roland Siegwart, Marc Pollefeys, Cesar Cadena


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Freetures:Localization in Signed Distance Function Maps


Oct 19, 2020
Alexander Millane, Helen Oleynikova, Christian Lanegger, Jeff Delmerico, Juan Nieto, Roland Siegwart, Marc Pollefeys, Cesar Cadena


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Voxgraph: Globally Consistent, Volumetric Mapping using Signed Distance Function Submaps


Apr 27, 2020
Victor Reijgwart, Alexander Millane, Helen Oleynikova, Roland Siegwart, Cesar Cadena, Juan Nieto

* IEEE Robotics and Automation Letters 5.1 (2019): 227-234 
* 8 pages, 9 figures 

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Free-Space Features: Global Localization in 2D Laser SLAM Using Distance Function Maps


Aug 05, 2019
Alexander Millane, Helen Oleynikova, Juan Nieto, Roland Siegwart, César Cadena


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Obstacle-aware Adaptive Informative Path Planning for UAV-based Target Search


Feb 26, 2019
Ajith Anil Meera, Marija Popovic, Alexander Millane, Roland Siegwart

* Paper accepted for International Conference on Robotics and Automation (ICRA-2019) to be held at Montreal, Canada 

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A Complete System for Vision-Based Micro-Aerial Vehicle Mapping, Planning, and Flight in Cluttered Environments


Dec 10, 2018
Helen Oleynikova, Zachary Taylor, Alexander Millane, Roland Siegwart, Juan Nieto

* Unpublished tech report presenting complete system for mapping and planning on-board micro-aerial vehicles. Will be amended with more results over time, and eventually submitted for journal publication 

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C-blox: A Scalable and Consistent TSDF-based Dense Mapping Approach


Sep 25, 2018
Alexander Millane, Zachary Taylor, Helen Oleynikova, Juan Nieto, Roland Siegwart, César Cadena

* 8 pages, 5 figures, conference 

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