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NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields


Oct 24, 2022
Antoni Rosinol, John J. Leonard, Luca Carlone

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* 10 pages, 6 figures 

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Probabilistic Volumetric Fusion for Dense Monocular SLAM


Oct 03, 2022
Antoni Rosinol, John J. Leonard, Luca Carlone

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* 9 pages, 6 figures, 2 tables 

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LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments


May 31, 2022
Yun Chang, Kamak Ebadi, Christopher E. Denniston, Muhammad Fadhil Ginting, Antoni Rosinol, Andrzej Reinke, Matteo Palieri, Jingnan Shi, Arghya Chatterjee, Benjamin Morrell, Ali-akbar Agha-mohammadi, Luca Carlone

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Smooth Mesh Estimation from Depth Data using Non-Smooth Convex Optimization


Aug 06, 2021
Antoni Rosinol, Luca Carlone

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* 8 pages 

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Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs


Jan 24, 2021
Antoni Rosinol, Andrew Violette, Marcus Abate, Nathan Hughes, Yun Chang, Jingnan Shi, Arjun Gupta, Luca Carlone

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* 34 pages, 25 figures, 9 tables. arXiv admin note: text overlap with arXiv:2002.06289 

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Primal-Dual Mesh Convolutional Neural Networks


Oct 23, 2020
Francesco Milano, Antonio Loquercio, Antoni Rosinol, Davide Scaramuzza, Luca Carlone

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* 34th Conference on Neural Information Processing Systems (NeurIPS 2020) 
* Accepted to the 34th Conference on Neural Information Processing Systems (NeurIPS 2020), Vancouver, Canada. Code available at: https://github.com/MIT-SPARK/PD-MeshNet 

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3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans


Feb 15, 2020
Antoni Rosinol, Arjun Gupta, Marcus Abate, Jingnan Shi, Luca Carlone

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* 11 pages, 5 figures 

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Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping


Oct 06, 2019
Antoni Rosinol, Marcus Abate, Yun Chang, Luca Carlone

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* 8 pages 

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Incremental Visual-Inertial 3D Mesh Generation with Structural Regularities


Mar 04, 2019
Antoni Rosinol, Torsten Sattler, Marc Pollefeys, Luca Carlone

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* IEEE Int. Conf. Robot. Autom. (ICRA), 2019 
* 7 pages, 5 figures, ICRA accepted 

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