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Multi-Resolution 3D Mapping with Explicit Free Space Representation for Fast and Accurate Mobile Robot Motion Planning

15 October 2020

Nils Funk

J. Tarrio

Sotiris Papatheodorou

Marija Popović

P. Alcantarilla

Stefan Leutenegger

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Papers citing "Multi-Resolution 3D Mapping with Explicit Free Space Representation for Fast and Accurate Mobile Robot Motion Planning"

25 / 25 papers shown

Title
HEPP: Hyper-efficient Perception and Planning for High-speed Obstacle Avoidance of UAVs Minghao Lu Xiyu Fan Bowen Xu Zexuan Yan Rui Peng Han Chen Lixian Zhang Peng Lu 27 0 0 23 May 2025
FindAnything: Open-Vocabulary and Object-Centric Mapping for Robot Exploration in Any Environment Sebastián Barbas Laina Simon Boche Sotiris Papatheodorou Simon Schaefer Jaehyung Jung Stefan Leutenegger 115 0 0 11 Apr 2025
Gaussian Process Distance Fields Obstacle and Ground Constraints for Safe Navigation Monisha Mushtary Uttsha Cedric Le Gentil Lan Wu Teresa Vidal-Calleja 48 0 0 23 Oct 2024
DynORecon: Dynamic Object Reconstruction for Navigation Yiduo Wang Jesse Morris Lan Wu Teresa Vidal-Calleja V. Ila 63 0 0 30 Sep 2024
Efficient Submap-based Autonomous MAV Exploration using Visual-Inertial SLAM Configurable for LiDARs or Depth Cameras Sotiris Papatheodorou Simon Boche Sebastián Barbas Laina Stefan Leutenegger 89 2 0 25 Sep 2024
Uncertainty-Aware Visual-Inertial SLAM with Volumetric Occupancy Mapping Jaehyung Jung Simon Boche Sebastián Barbas Laina Stefan Leutenegger 408 1 0 18 Sep 2024
SOLVR: Submap Oriented LiDAR-Visual Re-Localisation Joshua Knights Sebastián Barbas Laina Peyman Moghadam Stefan Leutenegger 84 0 0 16 Sep 2024
MAP-ADAPT: Real-Time Quality-Adaptive Semantic 3D Maps Jianhao Zheng Daniel Barath Marc Pollefeys Iro Armeni 101 3 0 09 Jun 2024
Waverider: Leveraging Hierarchical, Multi-Resolution Maps for Efficient and Reactive Obstacle Avoidance Victor Reijgwart Michael Pantic Roland Siegwart Lionel Ott 60 4 0 22 May 2024
Scalable Autonomous Drone Flight in the Forest with Visual-Inertial SLAM and Dense Submaps Built without LiDAR Sebastián Barbas Laina Simon Boche Sotiris Papatheodorou Dimos Tzoumanikas Simon Schaefer Hanzhi Chen Stefan Leutenegger 62 4 0 14 Mar 2024
Control-Barrier-Aided Teleoperation with Visual-Inertial SLAM for Safe MAV Navigation in Complex Environments Siqi Zhou Sotiris Papatheodorou Stefan Leutenegger Angela P. Schoellig 65 2 0 07 Mar 2024
Tightly-Coupled LiDAR-Visual-Inertial SLAM and Large-Scale Volumetric Occupancy Mapping Simon Boche Sebastián Barbas Laina Stefan Leutenegger 87 7 0 04 Mar 2024
GIRA: Gaussian Mixture Models for Inference and Robot Autonomy K. Goel Wennie Tabib 3DV 131 0 0 30 Jun 2023
SeMLaPS: Real-time Semantic Mapping with Latent Prior Networks and Quasi-Planar Segmentation Jingwen Wang J. Tarrio Lourdes Agapito P. Alcantarilla Alexander Vakhitov 3DPC 67 7 0 28 Jun 2023
GMMap: Memory-Efficient Continuous Occupancy Map Using Gaussian Mixture Model Peter Zhi Xuan Li S. Karaman Vivienne Sze 3DV 98 5 0 06 Jun 2023
Efficient volumetric mapping of multi-scale environments using wavelet-based compression Victor Reijgwart Cesar Cadena Roland Siegwart Lionel Ott 43 13 0 02 Jun 2023
ROG-Map: An Efficient Robocentric Occupancy Grid Map for Large-scene and High-resolution LiDAR-based Motion Planning Yunfan Ren Yixi Cai Fangcheng Zhu Siqi Liang Fu Zhang 75 16 0 28 Feb 2023
Finding Things in the Unknown: Semantic Object-Centric Exploration with an MAV Sotiris Papatheodorou Nils Funk Dimos Tzoumanikas Christopher L. Choi Binbin Xu Stefan Leutenegger 90 22 0 28 Feb 2023
Probabilistic Point Cloud Modeling via Self-Organizing Gaussian Mixture Models K. Goel Nathan Michael Wennie Tabib 3DPC 113 19 0 31 Jan 2023
Hierarchical Collision Avoidance for Adaptive-Speed Multirotor Teleoperation K. Goel Yves Georgy Daoud Nathan Michael Wennie Tabib 36 3 0 17 Sep 2022
3D Lidar Reconstruction with Probabilistic Depth Completion for Robotic Navigation Yifu Tao Marija Popović Yiduo Wang Sundara Tejaswi Digumarti Nived Chebrolu Maurice F. Fallon 3DV 53 5 0 25 Jul 2022
LiDAR Road-Atlas: An Efficient Map Representation for General 3D Urban Environment Banghe Wu Chengzhong Xu Hui Kong 3DV 22 1 0 12 Apr 2022
Adaptive-Resolution Field Mapping Using Gaussian Process Fusion with Integral Kernels Liren Jin Julius Ruckin Stefan H. Kiss Teresa Vidal-Calleja Marija Popović 47 9 0 29 Sep 2021
Volumetric Occupancy Mapping With Probabilistic Depth Completion for Robotic Navigation Marija Popović Florian Thomas Sotiris Papatheodorou Nils Funk Teresa Vidal-Calleja Stefan Leutenegger 3DV 104 20 0 05 Dec 2020
Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks Yiduo Wang Nils Funk Milad Ramezani Sotiris Papatheodorou Marija Popović Marco Camurri Stefan Leutenegger Maurice F. Fallon 3DV 67 17 0 19 Oct 2020