相关论文: Dense 3-D Mapping with Spatial Correlation via Gau…

Off-the-shelf Gaussian Process (GP) covariance functions encode smoothness assumptions on the structure of the function to be modeled. To model complex and non-differentiable functions, these smoothness assumptions are often too…

Mistakes/uncertainties in object detection could lead to catastrophes when deploying robots in the real world. In this paper, we measure the uncertainties of object localization to minimize this kind of risk. Uncertainties emerge upon…

Exact Gaussian Process (GP) regression has O(N^3) runtime for data size N, making it intractable for large N. Many algorithms for improving GP scaling approximate the covariance with lower rank matrices. Other work has exploited structure…

We derive a Matern Gaussian process (GP) on the vertices of a hypergraph. This enables estimation of regression models of observed or latent values associated with the vertices, in which the correlation and uncertainty estimates are…

Occupancy grids encode for hot spots on a map that is represented by a two dimensional grid of disjoint cells. The problem is to recursively update the probability that each cell in the grid is occupied, based on a sequence of sensor…

Gaussian Processes (GPs) provide a general and analytically tractable way of modeling complex time-varying, nonparametric functions. The Automatic Bayesian Covariance Discovery (ABCD) system constructs natural-language description of…

Accurately predicting 3D occupancy grids from visual inputs is critical for autonomous driving, but current discriminative methods struggle with noisy data, incomplete observations, and the complex structures inherent in 3D scenes. In this…

3D occupancy prediction enables the robots to obtain spatial fine-grained geometry and semantics of the surrounding scene, and has become an essential task for embodied perception. Existing methods based on 3D Gaussians instead of dense…

In this paper, we consider the problem of using a robot to explore an environment with an unknown, state-dependent disturbance function while avoiding some forbidden areas. The goal of the robot is to safely collect observations of the…

In this paper, we propose an optimization based SLAM approach to simultaneously optimize the robot trajectory and the occupancy map using 2D laser scans (and odometry) information. The key novelty is that the robot poses and the occupancy…

We introduce an approach for the real-time (2Hz) creation of a dense map and alignment of a moving robotic agent within that map by rendering using a Graphics Processing Unit (GPU). This is done by recasting the scan alignment part of the…

Observations of exoplanet atmospheres in high resolution have the potential to resolve individual planetary absorption lines, despite the issues associated with ground-based observations. The removal of contaminating stellar and telluric…

This paper presents a 3D lidar SLAM system based on improved regionalized Gaussian process (GP) map reconstruction to provide both low-drift state estimation and mapping in real-time for robotics applications. We utilize spatial GP…

Gaussian processes (GPs) are becoming a standard tool to build terrain representations thanks to their capacity to model map uncertainty. This effectively yields a reliability measure of the areas of the map, which can be directly utilized…

Semantic 3D mapping can be used for many applications such as robot navigation and virtual interaction. In recent years, there has been great progress in semantic segmentation and geometric 3D mapping. However, it is still challenging to…

Robust aiding of inertial navigation systems in GNSS-denied environments is critical for the removal of accumulated navigation error caused by the drift and bias inherent in inertial sensors. One way to perform such an aiding uses matching…

In this study, we introduce a novel analytical Gaussian Process (GP) cosmography methodology, leveraging the differentiable properties of GPs to derive key cosmological quantities analytically. Our approach combines cosmic chronometer (CC)…

The Gaussian process (GP) is a widely used probabilistic machine learning method with implicit uncertainty characterization for stochastic function approximation, stochastic modeling, and analyzing real-world measurements of nonlinear…

Autonomous navigation is one of the key requirements for every potential application of mobile robots in the real-world. Besides high-accuracy state estimation, a suitable and globally consistent representation of the 3D environment is…

This paper addresses the visual localization problem in Global Positioning System (GPS)-denied environments, where computational resources are often limited. To achieve efficient and robust performance under these constraints, we propose a…