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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, CĂ©sar Cadena


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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* Unpublished tech report presenting complete system for mapping and planning on-board micro-aerial vehicles.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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OVPC Mesh: 3D Free-space Representation for Local Ground Vehicle Navigation


Nov 26, 2018
Fabio Ruetz, Emili Hernández, Mark Pfeiffer, Helen Oleynikova, Mark Cox, Thomas Lowe, Paulo Borges

* 7 pages, ICRA 2019 submission, video https://www.youtube.com/watch?v=8b0w56bg0WM&t=81s 

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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, CĂ©sar Cadena

* 8 pages, 5 figures, conference 

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Sparse 3D Topological Graphs for Micro-Aerial Vehicle Planning


Jul 24, 2018
Helen Oleynikova, Zachary Taylor, Roland Siegwart, Juan Nieto

* Accepted for publication in IEEE IROS 2018 

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History-aware Autonomous Exploration in Confined Environments using MAVs


Mar 28, 2018
Christian Witting, Marius Fehr, Rik Bähnemann, Helen Oleynikova, Roland Siegwart

* 8 pages, 12 figures, Submitted to IROS 2018 

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Safe Local Exploration for Replanning in Cluttered Unknown Environments for Micro-Aerial Vehicles


Mar 12, 2018
Helen Oleynikova, Zachary Taylor, Roland Siegwart, Juan Nieto

* Accepted to ICRA 2018 and RA-L 2018 

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Voxblox: Incremental 3D Euclidean Signed Distance Fields for On-Board MAV Planning


Apr 21, 2017
Helen Oleynikova, Zachary Taylor, Marius Fehr, Juan Nieto, Roland Siegwart

* Submitted to IROS 2017. Videos available at https://www.youtube.com/watch?v=PlqT5zNsvwM and https://www.youtube.com/watch?v=lrGSwAPzMOQ 

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