1 code implementation • 6 Nov 2024 • Ziqi Lu, Jianbo Ye, John Leonard
We present 3DGS-CD, the first 3D Gaussian Splatting (3DGS)-based method for detecting physical object rearrangements in 3D scenes.
no code implementations • 28 May 2023 • Justin Lidard, Oswin So, Yanxia Zhang, Jonathan DeCastro, Xiongyi Cui, Xin Huang, Yen-Ling Kuo, John Leonard, Avinash Balachandran, Naomi Leonard, Guy Rosman
Interactions between road agents present a significant challenge in trajectory prediction, especially in cases involving multiple agents.
1 code implementation • 16 Oct 2021 • Deepak Gopinath, Guy Rosman, Simon Stent, Katsuya Terahata, Luke Fletcher, Brenna Argall, John Leonard
Our model takes as input scene information in the form of a video and noisy gaze estimates, and outputs visual saliency, a refined gaze estimate, and an estimate of the person's attended awareness.
no code implementations • 7 Dec 2020 • Sebastian Höfer, Kostas Bekris, Ankur Handa, Juan Camilo Gamboa, Florian Golemo, Melissa Mozifian, Chris Atkeson, Dieter Fox, Ken Goldberg, John Leonard, C. Karen Liu, Jan Peters, Shuran Song, Peter Welinder, Martha White
This report presents the debates, posters, and discussions of the Sim2Real workshop held in conjunction with the 2020 edition of the "Robotics: Science and System" conference.
no code implementations • 2 Aug 2020 • John D. Martin, Kevin Doherty, Caralyn Cyr, Brendan Englot, John Leonard
The ability to infer map variables and estimate pose is crucial to the operation of autonomous mobile robots.
1 code implementation • 24 Sep 2019 • Kevin Doherty, David Baxter, Edward Schneeweiss, John Leonard
The result is a max-mixture-type model that accounts for multiple data association hypotheses as well as incorrect loop closures.
Robotics
no code implementations • 11 May 2019 • Sudeep Pillai, John Leonard
Place recognition is a critical component in robot navigation that enables it to re-establish previously visited locations, and simultaneously use this information to correct the drift incurred in its dead-reckoned estimate.
no code implementations • 18 Sep 2017 • Julian Straub, Randi Cabezas, John Leonard, John W. Fisher III
To aide simultaneous localization and mapping (SLAM), future perception systems will incorporate forms of scene understanding.
2 code implementations • 19 Apr 2017 • Beipeng Mu, Shih-Yuan Liu, Liam Paull, John Leonard, Jonathan How
The \textit{data association} and \textit{simultaneous localization and mapping} (SLAM) problems are, individually, well-studied in the literature.
no code implementations • 23 Nov 2015 • Michael Salvato, Ross Finman, John Leonard
We present a novel RGB-D mapping system for generating 3D maps over spatially extended regions with higher resolution than current methods using multiple, dynamically placed mapping volumes.
no code implementations • 4 Jun 2015 • Sudeep Pillai, John Leonard
In this work, we develop a monocular SLAM-aware object recognition system that is able to achieve considerably stronger recognition performance, as compared to classical object recognition systems that function on a frame-by-frame basis.