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Patricio A. Vela

Georgia Institute of Technology

Single-stage Keypoint-based Category-level Object Pose Estimation from an RGB Image


Sep 13, 2021
Yunzhi Lin, Jonathan Tremblay, Stephen Tyree, Patricio A. Vela, Stan Birchfield

* submitted to ICRA 2022 

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GKNet: grasp keypoint network for grasp candidates detection


Jun 16, 2021
Ruinian Xu, Fu-Jen Chu, Patricio A. Vela

* 24 pages, 12 figures, 13 tables 

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A Joint Network for Grasp Detection Conditioned on Natural Language Commands


Apr 01, 2021
Yiye Chen, Ruinian Xu, Yunzhi Lin, Patricio A. Vela

* 7 pages, 2 figures, Accepted to the ICRA2021 

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Multi-view Fusion for Multi-level Robotic Scene Understanding


Mar 25, 2021
Yunzhi Lin, Jonathan Tremblay, Stephen Tyree, Patricio A. Vela, Stan Birchfield

* Submitted to ICRA 2021. Video is at https://youtu.be/FuqMxuODGlw 

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Potential Gap: Using Reactive Policies to Guarantee Safe Navigation


Mar 21, 2021
Ruoyang Xu, Shiyu Feng, Patricio A. Vela

* Submitted to RA-L with IROS 2021 option 

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Trajectory Servoing: Image-Based Trajectory Tracking Using SLAM


Mar 06, 2021
Shiyu Feng, Zixuan Wu, Yipu Zhao, Patricio A. Vela


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NavTuner: Learning a Scene-Sensitive Family of Navigation Policies


Mar 02, 2021
Haoxin Ma, Justin S. Smith, Patricio A. Vela


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Good Graph to Optimize: Cost-Effective, Budget-Aware Bundle Adjustment in Visual SLAM


Aug 23, 2020
Yipu Zhao, Justin S. Smith, Patricio A. Vela

* 20 pages, 14 figures, 8 tables. Submitted to IEEE Transactions on Robotics, for the provided open-source software see https://github.com/ivalab/gf_orb_slam2 

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Closed-Loop Benchmarking of Stereo Visual-Inertial SLAM Systems: Understanding the Impact of Drift and Latency on Tracking Accuracy


Mar 07, 2020
Yipu Zhao, Justin S. Smith, Sambhu H. Karumanchi, Patricio A. Vela

* 8 pages, 7 figures. Accepted for publication in ICRA 2020 

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Good Feature Matching: Towards Accurate, Robust VO/VSLAM with Low Latency


Jan 03, 2020
Yipu Zhao, Patricio A. Vela

* Accepted as a Regular Paper to the IEEE Transactions on Robotics Journal 

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Using Synthetic Data and Deep Networks to Recognize Primitive Shapes for Object Grasping


Sep 12, 2019
Yunzhi Lin, Chao Tang, Fu-Jen Chu, Patricio A. Vela

* 8 pages 

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Detecting Robotic Affordances on Novel Objects with Regional Attention and Attributes


Sep 12, 2019
Fu-Jen Chu, Ruinian Xu, Patricio A. Vela

* 8 pages 

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Autonomous, Monocular, Vision-Based Snake Robot Navigation and Traversal of Cluttered Environments using Rectilinear Gait Motion


Aug 19, 2019
Alexander H. Chang, Shiyu Feng, Yipu Zhao, Justin S. Smith, Patricio A. Vela


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Characterizing SLAM Benchmarks and Methods for the Robust Perception Age


May 19, 2019
Wenkai Ye, Yipu Zhao, Patricio A. Vela

* 7 pages, 5 figures, accepted at ICRA 2019 Workshop on Dataset Generation and Benchmarking of SLAM Algorithms for Robotics and VR/AR 

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Good Feature Selection for Least Squares Pose Optimization in VO/VSLAM


May 19, 2019
Yipu Zhao, Patricio A. Vela

* 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 1183-1189) 
* 7 pages, 4 figures, published at IROS 2018 

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Low-latency Visual SLAM with Appearance-Enhanced Local Map Building


May 19, 2019
Yipu Zhao, Wenkai Ye, Patricio A. Vela

* 7 pages, 6 figures, accepted at ICRA 2019 

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The Helping Hand: An Assistive Manipulation Framework Using Augmented Reality and a Tongue-Drive Interfaces


Aug 24, 2018
Fu-Jen Chu, Ruinian Xu, Zhenxuan Zhang, Patricio A. Vela, Maysam Ghovanloo


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Real-world Multi-object, Multi-grasp Detection


Jul 20, 2018
Fu-Jen Chu, Ruinian Xu, Patricio A. Vela


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Learning to Navigate: Exploiting Deep Networks to Inform Sample-Based Planning During Vision-Based Navigation


Jan 16, 2018
Justin S. Smith, Jin-Ha Hwang, Fu-Jen Chu, Patricio A. Vela

* 7 pages, 6 figures 

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Bendable Cuboid Robot Path Planning with Collision Avoidance using Generalized $L_p$ Norms


Dec 16, 2017
Nak-seung P. Hyun, Patricio A. Vela, Erik I. Verriest

* 12 pages, 6 figures 

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Learning Binary Features Online from Motion Dynamics for Incremental Loop-Closure Detection and Place Recognition


Jan 25, 2016
Guangcong Zhang, Mason J. Lilly, Patricio A. Vela

* Accepted to 2016 ICRA (IEEE International Conference on Robotics and Automation) 

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Reduced-Set Kernel Principal Components Analysis for Improving the Training and Execution Speed of Kernel Machines


Jul 26, 2015
Hassan A. Kingravi, Patricio A. Vela, Alexandar Gray


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A Comparative Study of Efficient Initialization Methods for the K-Means Clustering Algorithm


Sep 10, 2012
M. Emre Celebi, Hassan A. Kingravi, Patricio A. Vela

* Expert Systems with Applications 40 (2013) 200-210 
* 17 pages, 1 figure, 7 tables 

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