Maani Ghaffari
University of Michigan
収録論文 82本 ・ フィジカルAI/ロボット学習
センサ融合
※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。
論文
- サイクロプス：色を夢見るカメラとしてのLiDARセンサ融合2026/8/17
低照度や高ダイナミックレンジ環境で劣化するカメラの代わりに、照明に依存しないLiDAR強度をRGBビデオに変換するフレームワーク「Cyclops」を提案し、カメラなしで終日認識タスクを可能にする。
- Learning Adaptive Solvers for Distributed Factor Graph Optimization on Matrix Lie Groups2026/7/1
- NavVerse: Benchmarking Indoor-to-Outdoor Embodied Navigation in Continuous Robot Simulation2026/7/1
- A Replay-Constrained Simulation Framework for Personalization of Powered Knee--Ankle Prosthesis Controllers2026/7/1
- LieIPM: Lie Group Interior Point Method for Direct Trajectory Optimization of Rigid Bodies2026/6/1
- Distributed Pose Graph Optimization via Continuous Riemannian Dynamics2026/5/1
- A Survey of Legged Robotics in Non-Inertial Environments: Past, Present, and Future2026/4/1
- REST: Receding Horizon Explorative Steiner Tree for Zero-Shot Object-Goal Navigation2026/3/1
- Tensegrity Robot Endcap-Ground Contact Estimation with Symmetry-aware Heterogeneous Graph Neural Network2026/3/1
- SignNav: Leveraging Signage for Semantic Visual Navigation in Large-Scale Indoor Environments2026/3/1
- LongNav-R1: Horizon-Adaptive Multi-Turn RL for Long-Horizon VLA Navigation2026/2/1
- MePoly: Max Entropy Polynomial Policy Optimization2026/2/1
- Object Reconstruction under Occlusion with Generative Priors and Contact-induced Constraints2025/12/1
- Lies We Can Trust: Quantifying Action Uncertainty with Inaccurate Stochastic Dynamics through Conformalized Nonholonomic Lie Groups2025/12/1
- Robust Trajectory Tracking of Autonomous Surface Vehicle via Lie Algebraic Online MPC2025/11/1
- Ego-Vision World Model for Humanoid Contact Planning2025/10/1
- Equi-RO: A 4D mmWave Radar Odometry via Equivariant Networks2025/9/1
- Super LiDAR Intensity for Robotic Perception2025/8/1
- Imaginative World Modeling with Scene Graphs for Embodied Agent Navigation2025/8/1
- GPS-DRIFT: Marine Surface Robot Localization using IMU-GPS Fusion and Invariant Filtering2025/7/1
- Max Entropy Moment Kalman Filter for Polynomial Systems with Arbitrary Noise2025/6/1
- Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups2025/5/1
- Debiasing 6-DOF IMU via Hierarchical Learning of Continuous Bias Dynamics2025/4/1
- POp-GS: Next Best View in 3D-Gaussian Splatting with P-Optimality2025/3/1
- Learning Orientation Field for OSM-Guided Autonomous Navigation2025/3/1
- Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding2025/3/1
- Learning Implicit Social Navigation Behavior using Deep Inverse Reinforcement Learning2025/1/1
- Modeling Uncertainty in 3D Gaussian Splatting through Continuous Semantic Splatting2024/11/1
- Tensegrity Robot Proprioceptive State Estimation with Geometric Constraints2024/10/1
- LatentBKI: Open-Dictionary Continuous Mapping in Visual-Language Latent Spaces with Quantifiable Uncertainty2024/10/1
- SLAM assisted 3D tracking system for laparoscopic surgery2024/9/1
- DynaWeightPnP: Toward global real-time 3D-2D solver in PnP without correspondences2024/9/1
- Correspondence-Free SE(3) Point Cloud Registration in RKHS via Unsupervised Equivariant Learning2024/7/1
- SE3ET: SE(3)-Equivariant Transformer for Low-Overlap Point Cloud Registration2024/7/1
- Social Zone as a Barrier Function for Socially-Compliant Robot Navigation2024/5/1
- VascularPilot3D: Toward a 3D fully autonomous navigation for endovascular robotics2024/5/1
- GMKF: Generalized Moment Kalman Filter for Polynomial Systems with Arbitrary Noise2024/3/1
- RKHS-BA: A Robust Correspondence-Free Multi-View Registration Framework with Semantic Point Clouds2024/3/1
- Legged Robot State Estimation within Non-inertial Environments2024/3/1
- BDIS-SLAM: A lightweight CPU-based dense stereo SLAM for surgery2023/12/1
- Proprioceptive Invariant Robot State Estimation2023/11/1
- ConvBKI: Real-Time Probabilistic Semantic Mapping Network with Quantifiable Uncertainty2023/10/1
- Iterative PnP and its application in 3D-2D vascular image registration for robot navigation2023/10/1
- Human-robot Matching and Routing for Multi-robot Tour Guiding under Time Uncertainty2023/9/1
- Optical flow-based vascular respiratory motion compensation2023/8/1
- Convex Geometric Motion Planning on Lie Groups via Moment Relaxation2023/5/1
- Convex Geometric Trajectory Tracking using Lie Algebraic MPC for Autonomous Marine Vehicles2023/5/1
- Twilight SLAM: Navigating Low-Light Environments2023/4/1
- Fast and Noise-Resilient Magnetic Field Mapping on a Low-Cost UAV Using Gaussian Process Regression2023/2/1
- Moment-based Kalman Filter: Nonlinear Kalman Filtering with Exact Moment Propagation2023/1/1
- Learning Task Requirements and Agent Capabilities for Multi-agent Task Allocation2022/11/1
- Convolutional Bayesian Kernel Inference for 3D Semantic Mapping2022/9/1
- Deep Convolutional Neural Network and Transfer Learning for Locomotion Intent Prediction2022/9/1
- Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer2022/9/1
- SoLo T-DIRL: Socially-Aware Dynamic Local Planner based on Trajectory-Ranked Deep Inverse Reinforcement Learning2022/9/1
- Energy-based Legged Robots Terrain Traversability Modeling via Deep Inverse Reinforcement Learning2022/7/1
- Providers-Clients-Robots: Framework for spatial-semantic planning for shared understanding in human-robot interaction2022/6/1
- E2PN: Efficient SE(3)-Equivariant Point Network2022/6/1
- BDIS: Bayesian Dense Inverse Searching Method for Real-Time Stereo Surgical Image Matching2022/5/1
- Lie Algebraic Cost Function Design for Control on Lie Groups2022/4/1
- An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control2022/3/1
- Input Influence Matrix Design for MIMO Discrete-Time Ultra-Local Model2022/3/1
- MotionSC: Data Set and Network for Real-Time Semantic Mapping in Dynamic Environments2022/3/1
- Fusing Convolutional Neural Network and Geometric Constraint for Image-based Indoor Localization2022/1/1
- Simultaneous Human-robot Matching and Routing for Multi-robot Tour Guiding under Time Uncertainty2022/1/1
- Dynamic Semantic Occupancy Mapping using 3D Scene Flow and Closed-Form Bayesian Inference2021/8/1
- Multitask Learning for Scalable and Dense Multilayer Bayesian Map Inference2021/6/1
- Robust Task Scheduling for Heterogeneous Robot Teams under Capability Uncertainty2021/6/1
- Legged Robot State Estimation using Invariant Kalman Filtering and Learned Contact Events2021/6/1
- Toward Safety-Aware Informative Motion Planning for Legged Robots2021/3/1
- Global Unifying Intrinsic Calibration for Spinning and Solid-State LiDARs2020/12/1
- A New Framework for Registration of Semantic Point Clouds from Stereo and RGB-D Cameras2020/12/1
- A Path-Dependent Variational Framework for Incremental Information Gathering2020/10/1
- DeepLocNet: Deep Observation Classification and Ranging Bias Regression for Radio Positioning Systems2020/2/1
- Nonparametric Continuous Sensor Registration2020/1/1
- A Keyframe-based Continuous Visual SLAM for RGB-D Cameras via Nonparametric Joint Geometric and Appearance Representation2019/12/1
- Adaptive Continuous Visual Odometry from RGB-D Images2019/10/1
- Bayesian Spatial Kernel Smoothing for Scalable Dense Semantic Mapping2019/9/1
- LiDARTag: A Real-Time Fiducial Tag System for Point Clouds2019/8/1
- Characterizing the Uncertainty of Jointly Distributed Poses in the Lie Algebra2019/6/1
- Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation2019/4/1
- Continuous Direct Sparse Visual Odometry from RGB-D Images2019/4/1