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.
Group photos from left to right: 2020, 2019, 2018, 2016
- We have presented 5 papers at IROS 2020: Ambiguity-aware robust active SLAM, Efficient multiresolution scrolling grid, Efficient trajectory library filtering, Fermat paths for imaging sonar reconstruction, and Multi-stereo visual-inertial odometry.
- Our camera-lidar extrinsic calibration from IROS 2018 has been incorporated into Matlab.
- We have presented 5 papers at ICRA 2020: Active underwater SLAM, Incremental constrained smoothing, Volumetric albedo 3D reconstruction from imaging sonar, Fast pose estimation from 3D correspondences, and Unsupervised learning of monocular depth (published in RA-L).
- Frank Dellaert and Michael Kaess received the Inaugural RSS 2020 Test of Time Award "For pioneering an information smoothing approach to the SLAM problem via square root factorization, its interpretation as a graphical model, and the widely-used GTSAM free software repository."
- We have presented 6 papers at IROS 2019 in Macao: Consistent occupancy grid maps for planning, Robust scene reconstruction, Wide-aperature imaging sonar reconstruction, Dense sonar-based underwater reconstruction, Degeneracy-aware factors, Efficient perspective-n-point solution.
- We have presented 5 papers at ICRA 2019 in Montreal, Canada: Joint surface reconstruction from vision and LiDAR, Globally and locally consistent RGB-D reconstruction, Multi-hypothesis iSAM, Physics-based multi-view reconstruction of wires, and Through-water AUV localization (published in RAL).
- Jerry’s paper on information sparsification in visual-inertial odometry was one of six finalists for the best IROS 2018 conference paper.
- New RI seminar on factor graphs in robot perception.
- We have presented 4 papers at IROS 2018 in Madrid, Spain: Virtual occupancy grid maps, multi-beam sonar processing, information sparsification in visual-inertial odometry, and lidar-camera calibration.
- We have presented 3 papers at ICRA 2018 in Brisbane, Australia: Dense planar-inertial SLAM with structural constraints, feature-based SLAM for imaging sonar, and pose-graph SLAM using forward looking sonar (also in RA-L).
- Our GravityFusion work appeared at IROS 2017 in Vancouver.
- Our new water tank is now in operation.
- At IROS 2017 we have co-organized a workshop on Lines, Planes, Manhattan Models for 3D Mapping and presented our work on GravityFusion.
- We have published an extended article on Factor Graphs for Robot Perception.
- We have presented 4 publications at ICRA 2017 in Singapore: 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 in Daejeon, South Korea: GPS-denied long distance flight, inference with multimodal posteriors, data association for ASFM, underwater mapping, and monocular planar mapping.