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Long-term Visual Map Sparsification with Heterogeneous GNN



Ming-Fang Chang , Yipu Zhao , Rajvi Shah , Jakob J. Engel , Michael Kaess , Simon Lucey

* Accepted by CVPR 2022 

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Real-time Registration and Reconstruction with Cylindrical LiDAR Images



Wei Dong , Kwonyoung Ryu , Michael Kaess , Jaesik Park

* 6 pages, 7 figures. This paper is under the review 

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PatchGraph: In-hand tactile tracking with learned surface normals



Paloma Sodhi , Michael Kaess , Mustafa Mukadam , Stuart Anderson

* 7 pages, 8 figures 

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ASH: A Modern Framework for Parallel Spatial Hashing in 3D Perception



Wei Dong , Yixing Lao , Michael Kaess , Vladlen Koltun

* 18 pages, 18 figures 

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Efficient shape mapping through dense touch and vision



Sudharshan Suresh , Zilin Si , Joshua G. Mangelson , Wenzhen Yuan , Michael Kaess

* Under review as submission to the 2022 IEEE International Conference on Robotics and Automation (ICRA 2022) 

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LEO: Learning Energy-based Models in Graph Optimization



Paloma Sodhi , Eric Dexheimer , Mustafa Mukadam , Stuart Anderson , Michael Kaess


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CMU-GPR Dataset: Ground Penetrating Radar Dataset for Robot Localization and Mapping



Alexander Baikovitz , Paloma Sodhi , Michael Dille , Michael Kaess

* Accepted to the Radar in Robotics Workshop at the 2021 International Conference on Robotics and Automation 

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Ground Encoding: Learned Factor Graph-based Models for Localizing Ground Penetrating Radar



Alexander Baikovitz , Paloma Sodhi , Michael Dille , Michael Kaess

* Submitted to the International Conference on Intelligent Robots and Systems (IROS) 2021 

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Learning Tactile Models for Factor Graph-based State Estimation



Paloma Sodhi , Michael Kaess , Mustafa Mukadam , Stuart Anderson

* Submitted to the IEEE International Conference on Robotics and Automation (ICRA) 2021 

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Tactile SLAM: Real-time inference of shape and pose from planar pushing



Sudharshan Suresh , Maria Bauza , Kuan-Ting Yu , Joshua G. Mangelson , Alberto Rodriguez , Michael Kaess

* Under review as submission to the 2021 IEEE International Conference on Robotics and Automation (ICRA 2021). For associated video file, see https://youtu.be/wdyagx5MM40 

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