The Robot Perception Lab performs research related to localization, mapping and state estimation for autonomous mobile robots. The lab was founded in 2014 by Prof. Michael Kaess.

The lab is part of the Robotics Institute at Carnegie Mellon University and belongs to both the Field Robotics Center and the Computer Vision Group.

Applications of our research span a wide range from underwater robots to aerial robots and handheld systems for mapping.

HAUV NEA Sensor Suite Planar Mapping


We have 4 upcoming publications at ICRA 2017: Keyframe-based dense planar SLAM, manifold particle filter for state estimation under contact, robust stereo matching, and direct visual odometry using binary descriptors

We have presented 5 publications at IROS 2016: GPS-denied long distance flight, inference with multimodal posteriors, data association for ASFM, underwater mapping, and monocular planar mapping.